GeneOH Diffusion: Towards Generalizable Hand-Object Interaction Denoising via Denoising Diffusion

TL;DR

GeneOH Diffusion introduces a novel contact-centric representation and a domain-generalizable denoising scheme to improve the realism and robustness of hand-object interaction sequences, especially under diverse noise conditions.

Contribution

The paper proposes GeneOH Diffusion, a new approach combining a contact-centric HOI representation with a diffusion-based denoising scheme for improved generalization and noise removal in hand-object interaction sequences.

Findings

Outperforms existing methods on four benchmark datasets.

Demonstrates strong generalization across diverse interaction scenarios.

Effective in removing interaction artifacts and unnatural poses.

Abstract

In this work, we tackle the challenging problem of denoising hand-object interactions (HOI). Given an erroneous interaction sequence, the objective is to refine the incorrect hand trajectory to remove interaction artifacts for a perceptually realistic sequence. This challenge involves intricate interaction noise, including unnatural hand poses and incorrect hand-object relations, alongside the necessity for robust generalization to new interactions and diverse noise patterns. We tackle those challenges through a novel approach, GeneOH Diffusion, incorporating two key designs: an innovative contact-centric HOI representation named GeneOH and a new domain-generalizable denoising scheme. The contact-centric representation GeneOH informatively parameterizes the HOI process, facilitating enhanced generalization across various HOI scenarios. The new denoising scheme consists of a canonical denoising model trained to project noisy data samples from a whitened noise space to a clean data manifold and a "denoising via diffusion" strategy which can handle input trajectories with various noise patterns by first diffusing them to align with the whitened noise space and cleaning via the canonical denoiser. Extensive experiments on four benchmarks with significant domain variations demonstrate the superior effectiveness of our method. GeneOH Diffusion also shows promise for various downstream applications. Project website: https://meowuu7.github.io/GeneOH-Diffusion/.