ContactPose

September 2, 2020 ยท View on GitHub

PyTorch implementation of the data-driven hand-object contact modeling experiments presented in the paper:

ContactPose: A Dataset of Grasps with Object Contact and Hand Pose -

Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays,

ECCV 2020.

Please visit http://contactpose.cc.gatech.edu to explore the dataset.

Note: This is the ML code for the ECCV 2020 paper. The ContactPose dataset API is here.

Citation

@InProceedings{Brahmbhatt_2020_ECCV,
author = {Brahmbhatt, Samarth and Tang, Chengcheng and Twigg, Christopher D. and Kemp, Charles C. and Hays, James},
title = {{ContactPose}: A Dataset of Grasps with Object Contact and Hand Pose},
booktitle = {The European Conference on Computer Vision (ECCV)},
month = {August},
year = {2020}
}

Getting Started

  • Clone this repository
$ git clone git@github.com:samarth-robo/ContactPose-ML.git contactpose-ml
$ cd contactpose-ml
  • Install Miniconda. Create the contactpose_ml conda environment: conda env create -f environment.yml. Activate it:
$ source activate contactpose_ml
  • Tested on PyTorch 1.2.0 (as mentioned in environment.yml). You will probably be able to use later versions, but no guarantees. Please create an issue if you run into problems.
  • Install pytorch-geometric from source code. Pip wheels can unfortunately not be used because of the outdated version of PyTorch.
  • Checkout the appropriate branch for the features used to predict contact:

Download Links

These links are provided only for reference, you should not need to download them manually. get_data.py in each branch will download everything for you.

Trained Models, Training Logs, and result.json files

LearnerFeaturesSplitLink
MLPsimple-jointsobjectslink
MLPrelative-jointsobjectslink
MLPskeletonobjectslink
MLPmeshobjectslink
MLPsimple-jointsparticipantslink
MLPrelative-jointsparticipantslink
MLPskeletonparticipantslink
MLPmeshparticipantslink
PointNet++simple-jointsobjectslink
PointNet++relative-jointsobjectslink
PointNet++skeletonobjectslink
PointNet++meshobjectslink
PointNet++simple-jointsparticipantslink
PointNet++relative-jointsparticipantslink
PointNet++skeletonparticipantslink
PointNet++meshparticipantslink
VoxNetskeletonobjectslink
VoxNetskeletonparticipantslink
Heuristic (10 pose params)-objectslink
Heuristic (15 pose params)-objectslink
Heuristic (10 pose params)-participantslink
Heuristic (15 pose params)-participantslink
enc-dec, PointNet++images (3 view)objectslink
enc-dec, PointNet++images (1 view)objectslink
enc-dec, PointNet++images (3 view)participantslink
enc-dec, PointNet++images (1 view)participantslink

Other Data