{"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/oakink-a-large-scale-knowledge-repository-for","title":"OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction","arxiv_id":"2203.15709","date":"2022-03-29","proceeding":"CVPR 2022 1","authors":["Lixin Yang","Kailin Li","Xinyu Zhan","Fei Wu","Anran Xu","Liu Liu","Cewu Lu"],"abstract":"Learning how humans manipulate objects requires machines to acquire knowledge from two perspectives: one for understanding object affordances and the other for learning human's interactions based on the affordances. Even though these two knowledge bases are crucial, we find that current databases lack a comprehensive awareness of them. In this work, we propose a multi-modal and rich-annotated knowledge repository, OakInk, for visual and cognitive understanding of hand-object interactions. We start to collect 1,800 common household objects and annotate their affordances to construct the first knowledge base: Oak. Given the affordance, we record rich human interactions with 100 selected objects in Oak. Finally, we transfer the interactions on the 100 recorded objects to their virtual counterparts through a novel method: Tink. The recorded and transferred hand-object interactions constitute the second knowledge base: Ink. As a result, OakInk contains 50,000 distinct affordance-aware and intent-oriented hand-object interactions. We benchmark OakInk on pose estimation and grasp generation tasks. Moreover, we propose two practical applications of OakInk: intent-based interaction generation and handover generation. Our datasets and source code are publicly available at https://github.com/lixiny/OakInk.","url_abs":"https://arxiv.org/abs/2203.15709v1","url_pdf":"https://arxiv.org/pdf/2203.15709v1.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":"oakink-a-large-scale-knowledge-repository-for","repo_url":"https://github.com/lixiny/oakink","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"grasp-generation","task_name":"Grasp Generation"},{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2203.15709","atlas_url":"https://app.syntology.ai/?focus=2203.15709","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2203.15709"}},"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. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/lixiny/oakink","reach":null}],"summary":{"ran":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"4b41e31a4bb43aa8","entry":"ObjectAffordanceKnowledge","repo":"lixiny/oakink","repo_kind":"official","path":"oikit/oak_base.py","file_url":"https://github.com/lixiny/oakink/blob/HEAD/oikit/oak_base.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"4b41e31a4bb43aa8"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}