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

European Conference on Computer Vision (ECCV)


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

Related Publications

All Publications

Unsupervised Translation of Programming Languages

Baptiste Roziere, Marie-Anne Lachaux, Lowik Chanussot, Guillaume Lample

NeurIPS - December 1, 2020

Acustico: Surface Tap Detection and Localization using Wrist-based Acoustic TDOA Sensing

Jun Gong, Aakar Gupta, Hrvoje Benko

ACM UIST - October 19, 2020

Learning Reasoning Strategies in End-to-End Differentiable Proving

Pasquale Minervini, Sebastian Riedel, Pontus Stenetorp, Edward Grefenstette, Tim Rocktäschel

ICML - August 13, 2020

Voice Separation with an Unknown Number of Multiple Speakers

Eliya Nachmani, Yossi Adi, Lior Wolf

ICML - October 1, 2020

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookies Policy