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Video

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Contact Representation

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+ Object-centric ContactGen consists of three maps, contact map, part map and direction map. + All maps are defined on object points. Contact map represents the contact probability of the point. + Part map indicate the hand part label in contact with the object point. + Direction map records the direction of this point w.r.t. the hand part. +

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Contact Map

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Part Map

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Direction Map

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Generative Contact Modeling

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+ Conditioned on the input object point cloud, + we decompose the joint distribution of ContactGen into three conditional probabilities by a sequential CVAE. + The contact map is conditioned on object input; the part map is additionally conditioned on contact map; + direction map additionally conditioned on part map. Each component is controlled by a latent code. +

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Model-based contact solver

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+ Given the sampled obejct-centric ContactGen from the generative model, + we decode it into the corresponding hand grasp. + To achieve this, we convert the MANO model into a piecewise SDF model to enhance the compatibility with + the proposed ContactGen for grasp synthesis, + formulate a model-based optimization to infer the pose and shape of the hand. +

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Piecewise hand SDF model

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BibTeX

diff --git a/static/videos/framework.mp4 b/static/videos/framework.mp4 new file mode 100644 index 0000000..dc23aef Binary files /dev/null and b/static/videos/framework.mp4 differ diff --git a/static/videos/hand_model.mp4 b/static/videos/hand_model.mp4 new file mode 100644 index 0000000..6172cba Binary files /dev/null and b/static/videos/hand_model.mp4 differ diff --git a/static/videos/ho_cmap.mp4 b/static/videos/ho_cmap.mp4 new file mode 100644 index 0000000..abe9556 Binary files /dev/null and b/static/videos/ho_cmap.mp4 differ diff --git a/static/videos/ho_part.mp4 b/static/videos/ho_part.mp4 new file mode 100644 index 0000000..e95ed13 Binary files /dev/null and b/static/videos/ho_part.mp4 differ diff --git a/static/videos/ho_uv.mp4 b/static/videos/ho_uv.mp4 new file mode 100644 index 0000000..777a4a9 Binary files /dev/null and b/static/videos/ho_uv.mp4 differ