← 研踪 PaperTrailarXiv:2611.08578 · v1
HaNDF: Object-Conditioned Geometric Neural Hand Distance Fields
首次提交 2026-11-06 02:59
版本更新 2026-11-06 02:59
雷达观测 2026-11-09 10:16
摘要
We propose, HaNDF, object-conditional neural distance fields as data-driven priors for modeling the plausible hand-object configurations, in the product manifold of hand articulations. While recent unconditional generative priors showed success in modeling human pose, hands are versatile articulated bodies often found in interaction with other objects. This makes it crucial to develop a generative prior which can model the plausible hand poses conditioned on the object under interaction. To this end, our HaNDF proposes a geometry-aware, object-conditioned neural distance field, representing the plausible articulations in the zero-level set of a conditional field. We leverage tools from Riemannian geometry to (i) represent plausible hands in the zero level-set of an object-induced neural field, and (ii) project a given pose onto this field. Using HaNDF, we can also optimize for a plausible condition, determining the object under interaction. Our extensive evaluations demonstrate that our HaNDF provides a flexible and powerful prior for hand-object interaction, suitable for applications such as pose refinement, reconstruction under occlusion, and physically plausible manipulation synthesis.
作者备注：Accepted at NeurIPS 2026
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v1 · 2026-11-06 02:59 · 最新观测版本
HaNDF: Object-Conditioned Geometric Neural Hand Distance Fields
We propose, HaNDF, object-conditional neural distance fields as data-driven priors for modeling the plausible hand-object configurations, in the product manifold of hand articulations. While recent unconditional generative priors showed success in modeling human pose, hands are versatile articulated bodies often found in interaction with other objects. This makes it crucial to develop a generative prior which can model the plausible hand poses conditioned on the object under interaction. To this end, our HaNDF proposes a geometry-aware, object-conditioned neural distance field, representing the plausible articulations in the zero-level set of a conditional field. We leverage tools from Riemannian geometry to (i) represent plausible hands in the zero level-set of an object-induced neural field, and (ii) project a given pose onto this field. Using HaNDF, we can also optimize for a plausible condition, determining the object under interaction. Our extensive evaluations demonstrate that our HaNDF provides a flexible and powerful prior for hand-object interaction, suitable for applications such as pose refinement, reconstruction under occlusion, and physically plausible manipulation synthesis.
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