{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-unified-transformer-based-framework-with","title":"A Unified Transformer-Based Framework with Pretraining For Whole Body Grasping Motion Generation","arxiv_id":"2507.00676","date":"2025-07-01","proceeding":null,"authors":["Edward Effendy","Kuan-Wei Tseng","Rei Kawakami"],"abstract":"Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three stages: Grasp Pose Generation for full-body grasp generation, Temporal Infilling for smooth motion continuity, and a LiftUp Transformer that refines downsampled joints back to high-resolution markers. To overcome the scarcity of hand-object interaction data, we introduce a data-efficient Generalized Pretraining stage on large, diverse motion datasets, yielding robust spatio-temporal representations transferable to grasping tasks. Experiments on the GRAB dataset show that our method outperforms state-of-the-art baselines in terms of coherence, stability, and visual realism. The modular design also supports easy adaptation to other human-motion applications.","url_abs":"https://arxiv.org/abs/2507.00676v1","url_pdf":"https://arxiv.org/pdf/2507.00676v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-unified-transformer-based-framework-with","repo_url":"https://github.com/grgward108/PosePretrain","is_official":0,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"grasp-generation","task_name":"Grasp Generation"},{"task_slug":"motion-generation","task_name":"Motion Generation"}],"methods":[{"method_slug":"absolute-position-encodings","method_name":"Absolute Position Encodings"},{"method_slug":"bpe","method_name":"BPE"},{"method_slug":"dense-connections","method_name":"Dense Connections"},{"method_slug":"dropout","method_name":"Dropout"},{"method_slug":"label-smoothing","method_name":"Label Smoothing"},{"method_slug":"layer-normalization","method_name":"Layer Normalization"},{"method_slug":"softmax","method_name":"Softmax"},{"method_slug":"transformer","method_name":"Transformer"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}