Grasp Contact Prediction
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Benchmarks
ContactDB
ContactPose
Most implemented
GRAB: A Dataset of Whole-Body Human Grasping of Objects
ContactPose: A Dataset of Grasps with Object Contact and Hand Pose
ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging
Papers
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp lab…
Domain AdaptationDomain GeneralizationGrasp Contact PredictionGrasp Generation+6GRAB: A Dataset of Whole-Body Human Grasping of Objects
Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. Whi…
Grasp Contact PredictionGrasp GenerationHuman-Object-interaction motion trackingObjectContactPose: A Dataset of Grasps with Object Contact and Hand Pose
Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling t…
Grasp Contact PredictionObjectContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is cha…
Grasp Contact PredictionObjectTranslation