COOP: Decoupling and Coupling of Whole-Body Grasping Pose Generation

Abstract

Generating life-like whole-body human grasping has garnered significant attention in the field of computer graphics. Existing works have demonstrated the effectiveness of keyframe-guided motion generation framework, witch focus on modeling the grasping motions of humans in temporal sequence when the target objects are placed in front of them. However, the generated grasping poses of the human body in the key-frames are limited, failing to capture the full range of grasping poses that humans are capable of.To address this issue, we propose a novel framework called COOP (DeCOupling and COupling of Whole-Body GrasPing Pose Generation) to synthesize life-like wholebody poses that cover the widest range of human grasping capabilities. In this framework, we first decouple the wholebody pose into body pose and hand pose and model them separately, which allows us to pre-train the body model with out-of-domain data easily. Then, we couple these two generated body parts through a unified optimization algorithm.Furthermore, we design a simple evaluation method to evaluate the generalization ability of models in generating grasping poses for objects placed at different positions. The experimental results demonstrate the efficacy and superiority of our method. And COOP holds great potential as a plug-and-play component for other domains in whole-body pose generation. Our models and code are available at https://github.com/zhengyanzhao1997/COOP.