FastGrasp: Efficient Grasp Synthesis with Diffusion

doi:arXiv:2411.14786

	FastGrasp: Efficient Grasp Synthesis with Diffusion
	Wu, Xiaofei1 ; Liu, Tao 1; Li, Caoji1 ; Ma, Yuexin1 ; Shi, Yujiao1 ; He, Xuming1,2
	2024-11-22
状态	已发表
摘要	Effectively modeling the interaction between human hands and objects is challenging due to the complex physical constraints and the requirement for high generation efficiency in applications. Prior approaches often employ computationally intensive two-stage approaches, which first generate an intermediate representation, such as contact maps, followed by an iterative optimization procedure that updates hand meshes to capture the hand-object relation. However, due to the high computation complexity during the optimization stage, such strategies often suffer from low efficiency in inference. To address this limitation, this work introduces a novel diffusion-model-based approach that generates the grasping pose in a one-stage manner. This allows us to significantly improve generation speed and the diversity of generated hand poses. In particular, we develop a Latent Diffusion Model with an Adaptation Module for object-conditioned hand pose generation and a contact-aware loss to enforce the physical constraints between hands and objects. Extensive experiments demonstrate that our method achieves faster inference, higher diversity, and superior pose quality than state-of-the-art approaches.Â
语种	英语
DOI	arXiv:2411.14786
相关网址	查看原文
出处	Arxiv
收录类别	PPRN.PPRN
WOS记录号	PPRN:119352806
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Software Engineering
资助项目	NSFC[62350610269]
文献类型	预印本
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/467835
专题	信息科学与技术学院_PI研究组_马月昕信息科学与技术学院_PI研究组_何旭明组信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_师玉娇组
通讯作者	Shi, Yujiao; He, Xuming
作者单位	1.ShanghaiTech Univ, Shanghai, Peoples R China 2.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Wu, Xiaofei,Liu, Tao,Li, Caoji,et al. FastGrasp: Efficient Grasp Synthesis with Diffusion. 2024.