This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part, and a direction map tells the contact direction within each part. Given an input object, we propose a conditional generative model to predict ContactGen and adopt model-based optimization to predict diverse and geometrically feasible grasps. Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects. Project page: https://stevenlsw.github.io/contactgen/

翻译：本文提出一种新颖的以物体为中心的接触表示方法ContactGen，用于手-物交互。ContactGen包含三个组成部分：接触图标示接触位置，部位图表示接触手部区域，方向图揭示各部位内部的接触方向。针对给定物体，我们提出条件生成模型来预测ContactGen，并采用基于模型的优化方法生成多样且几何可行的抓取姿态。实验结果表明，本方法能够为多种物体生成高保真且多样的人手抓取。项目页面：https://stevenlsw.github.io/contactgen/