{"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/contactpose-a-dataset-of-grasps-with-object","title":"ContactPose: A Dataset of Grasps with Object Contact and Hand Pose","arxiv_id":"2007.09545","date":"2020-07-19","proceeding":"ECCV 2020 8","authors":["Samarth Brahmbhatt","Chengcheng Tang","Christopher D. Twigg","Charles C. Kemp","James Hays"],"abstract":"Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can potentially improve hand models, AR/VR experiences, and robotic grasping. Yet, we currently lack datasets of hand-object contact paired with other data modalities, which is crucial for developing and evaluating contact modeling techniques. We introduce ContactPose, the first dataset of hand-object contact paired with hand pose, object pose, and RGB-D images. ContactPose has 2306 unique grasps of 25 household objects grasped with 2 functional intents by 50 participants, and more than 2.9 M RGB-D grasp images. Analysis of ContactPose data reveals interesting relationships between hand pose and contact. We use this data to rigorously evaluate various data representations, heuristics from the literature, and learning methods for contact modeling. Data, code, and trained models are available at https://contactpose.cc.gatech.edu.","url_abs":"https://arxiv.org/abs/2007.09545v1","url_pdf":"https://arxiv.org/pdf/2007.09545v1.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":"contactpose-a-dataset-of-grasps-with-object","repo_url":"https://github.com/facebookresearch/ContactPose","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null},{"paper_slug":"contactpose-a-dataset-of-grasps-with-object","repo_url":"https://github.com/samarth-robo/ContactPose-ML","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"human-grasp-contact-prediction","task_name":"Grasp Contact Prediction"},{"task_slug":"object","task_name":"Object"}],"methods":[],"datasets_introduced":[{"slug":"contactpose","name":"ContactPose","full_name":""}],"methods_introduced":[],"results":[{"leaderboard":"/sota/grasp-contact-prediction-on-contactpose","task":"Grasp Contact Prediction","dataset":"ContactPose","model":"MLP + mesh-features","rank_in_archive_order":1,"of":1,"metrics":{"AUC":"84.74"},"uses_additional_data":false}],"syntology":{"syntology_url":"https://syntology.ai/paper/2007.09545","atlas_url":"https://app.syntology.ai/?focus=2007.09545","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2007.09545"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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