Contact2Grasp: 3D Grasp Synthesis via Hand-Object Contact Constraint

no code implementations • 17 Oct 2022 • Haoming Li, Xinzhuo Lin, Yang Zhou, Xiang Li, Yuchi Huo, Jiming Chen, Qi Ye

To tackle the challenge, we introduce an intermediate variable for grasp contact areas to constrain the grasp generation; in other words, we factorize the mapping into two sequential stages by assuming that grasping poses are fully constrained given contact maps: 1) we first learn contact map distributions to generate the potential contact maps for grasps; 2) then learn a mapping from the contact maps to the grasping poses.

Grasp Generation Object +2