← 研踪 PaperTrailarXiv:2606.29924 · v2
DCGrasp: Distance-aware Controllable Grasp Generation
首次提交 2026-06-29 16:02
版本更新 2026-10-26 22:46
雷达观测 2026-10-29 00:35
摘要
Generating 3D hand-object interactions is essential for applications in robotics, AR/VR, and synthetic data generation, where flexible controllability and strong generalization to diverse object geometries are required. However, existing methods rarely satisfy these requirements, limiting their practical applicability. We present DCGrasp, a multi-modal diffusion framework for distance-aware controllable grasp generation. DCGrasp is built on a novel grasp energy term that computes Distance Profile, a signed distance from each hand vertex to the nearest object point, coupled with distance-aware weighting, effectively capturing the semantically similar hand-object interaction in near-contact regions while remaining invariant to object and hand identity. Given various controllable signals, DCGrasp first generates a Distance Profile based on a Diffusion Transformer, together with a corresponding candidate hand pose. We then refine the candidate pose through optimization, enforcing consistency between the optimized hand pose and the generated Distance Profile in near-contact regions. Our experiments show that DCGrasp produces high-quality, geometrically plausible grasps with flexible user control, generalizing to diverse object and hand shapes and scales. Our work establishes a robust and versatile pipeline for the synthesis of controllable 3D hand-object interactions. The supplementary video with dynamic visualization is available on our project page.
作者备注：Accepted to SIGGRAPH Asia 2026. Project page: https://4dqv.mpi-inf.mpg.de/DCGrasp/
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v2 · 2026-10-26 22:46 · 最新观测版本
DCGrasp: Distance-aware Controllable Grasp Generation
Generating 3D hand-object interactions is essential for applications in robotics, AR/VR, and synthetic data generation, where flexible controllability and strong generalization to diverse object geometries are required. However, existing methods rarely satisfy these requirements, limiting their practical applicability. We present DCGrasp, a multi-modal diffusion framework for distance-aware controllable grasp generation. DCGrasp is built on a novel grasp energy term that computes Distance Profile, a signed distance from each hand vertex to the nearest object point, coupled with distance-aware weighting, effectively capturing the semantically similar hand-object interaction in near-contact regions while remaining invariant to object and hand identity. Given various controllable signals, DCGrasp first generates a Distance Profile based on a Diffusion Transformer, together with a corresponding candidate hand pose. We then refine the candidate pose through optimization, enforcing consistency between the optimized hand pose and the generated Distance Profile in near-contact regions. Our experiments show that DCGrasp produces high-quality, geometrically plausible grasps with flexible user control, generalizing to diverse object and hand shapes and scales. Our work establishes a robust and versatile pipeline for the synthesis of controllable 3D hand-object interactions. The supplementary video with dynamic visualization is available on our project page.
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