{"id":"https://openalex.org/W3185319321","doi":"https://doi.org/10.1145/3450626.3459830","title":"ManipNet","display_name":"ManipNet","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3185319321","doi":"https://doi.org/10.1145/3450626.3459830","mag":"3185319321"},"language":"en","primary_location":{"id":"doi:10.1145/3450626.3459830","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3450626.3459830","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101836662","display_name":"He Zhang","orcid":"https://orcid.org/0000-0001-9049-4080"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"He Zhang","raw_affiliation_strings":["The University of Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070709298","display_name":"Yuting Ye","orcid":"https://orcid.org/0000-0003-2643-7457"},"institutions":[{"id":"https://openalex.org/I2252078561","display_name":"Meta (Israel)","ror":"https://ror.org/02388em19","country_code":"IL","type":"company","lineage":["https://openalex.org/I2252078561","https://openalex.org/I4210114444"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yuting Ye","raw_affiliation_strings":["Facebook Reality Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook Reality Labs","institution_ids":["https://openalex.org/I2252078561"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072453520","display_name":"Takaaki Shiratori","orcid":"https://orcid.org/0000-0002-1012-415X"},"institutions":[{"id":"https://openalex.org/I2252078561","display_name":"Meta (Israel)","ror":"https://ror.org/02388em19","country_code":"IL","type":"company","lineage":["https://openalex.org/I2252078561","https://openalex.org/I4210114444"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Takaaki Shiratori","raw_affiliation_strings":["Facebook Reality Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook Reality Labs","institution_ids":["https://openalex.org/I2252078561"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014324841","display_name":"Taku Komura","orcid":"https://orcid.org/0000-0002-2729-5860"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Taku Komura","raw_affiliation_strings":["The University of Hong Kong and The University of Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong and The University of Edinburgh","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5539,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.95495323,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"40","issue":"4","first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7958121299743652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6157126426696777},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5999271869659424},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5705713033676147},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5188544988632202},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.5152573585510254},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5027427673339844},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4822852909564972},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42038673162460327},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.19637265801429749},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11517220735549927}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7958121299743652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6157126426696777},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5999271869659424},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5705713033676147},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5188544988632202},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.5152573585510254},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5027427673339844},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4822852909564972},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42038673162460327},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.19637265801429749},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11517220735549927},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3450626.3459830","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3450626.3459830","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1943839102","display_name":null,"funder_award_id":"182DRTAKU","funder_id":"https://openalex.org/F4320322170","funder_display_name":"University of Hong Kong"},{"id":"https://openalex.org/G8159964364","display_name":null,"funder_award_id":"187FRTAKU","funder_id":"https://openalex.org/F4320322170","funder_display_name":"University of Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320322170","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":79,"referenced_works":["https://openalex.org/W94941688","https://openalex.org/W1947717016","https://openalex.org/W1968976745","https://openalex.org/W1981693481","https://openalex.org/W1999156278","https://openalex.org/W1999165127","https://openalex.org/W2009955203","https://openalex.org/W2028098496","https://openalex.org/W2051264744","https://openalex.org/W2056422961","https://openalex.org/W2072097549","https://openalex.org/W2075156252","https://openalex.org/W2080592425","https://openalex.org/W2095705004","https://openalex.org/W2096044049","https://openalex.org/W2099332139","https://openalex.org/W2103615332","https://openalex.org/W2106281046","https://openalex.org/W2122115534","https://openalex.org/W2139122270","https://openalex.org/W2139760425","https://openalex.org/W2143470124","https://openalex.org/W2145079789","https://openalex.org/W2149729559","https://openalex.org/W2150457612","https://openalex.org/W2153968339","https://openalex.org/W2154006563","https://openalex.org/W2172156083","https://openalex.org/W2194775991","https://openalex.org/W2227547437","https://openalex.org/W2261730354","https://openalex.org/W2340988230","https://openalex.org/W2520346623","https://openalex.org/W2527587652","https://openalex.org/W2557465155","https://openalex.org/W2559882727","https://openalex.org/W2611706523","https://openalex.org/W2737458015","https://openalex.org/W2739330054","https://openalex.org/W2768683308","https://openalex.org/W2796290181","https://openalex.org/W2796453247","https://openalex.org/W2801567109","https://openalex.org/W2811107675","https://openalex.org/W2902318149","https://openalex.org/W2903134811","https://openalex.org/W2912918068","https://openalex.org/W2945629925","https://openalex.org/W2948343307","https://openalex.org/W2962074429","https://openalex.org/W2962736495","https://openalex.org/W2962811204","https://openalex.org/W2963121255","https://openalex.org/W2963488642","https://openalex.org/W2963627347","https://openalex.org/W2964093990","https://openalex.org/W2964101377","https://openalex.org/W2964161785","https://openalex.org/W2968116426","https://openalex.org/W2968722025","https://openalex.org/W2984106353","https://openalex.org/W2984579799","https://openalex.org/W2986708244","https://openalex.org/W2987687807","https://openalex.org/W2987886924","https://openalex.org/W2990747716","https://openalex.org/W2997581345","https://openalex.org/W2998145016","https://openalex.org/W3000812298","https://openalex.org/W3003296541","https://openalex.org/W3009385801","https://openalex.org/W3048659003","https://openalex.org/W3048921023","https://openalex.org/W3094927600","https://openalex.org/W3104515094","https://openalex.org/W3107914916","https://openalex.org/W4236965008","https://openalex.org/W4241614188","https://openalex.org/W4252493648"],"related_works":["https://openalex.org/W4310844315","https://openalex.org/W2532377291","https://openalex.org/W2000013817","https://openalex.org/W4296190881","https://openalex.org/W3162204513","https://openalex.org/W2366362996","https://openalex.org/W2517624617","https://openalex.org/W2378422373","https://openalex.org/W1834370135","https://openalex.org/W2157278770"],"abstract_inverted_index":{"Natural":[0],"hand":[1],"manipulations":[2],"exhibit":[3],"complex":[4],"finger":[5,89,106,126,174],"maneuvers":[6],"adaptive":[7],"to":[8,33,87,169,222],"object":[9,65,182],"shapes":[10,41,161,190],"and":[11,42,96,109,112,147,162,180,191],"the":[12,36,63,101,104,113,129,165],"tasks":[13],"at":[14],"hand.":[15],"Learning":[16,154],"dexterous":[17],"manipulation":[18],"from":[19,57,91,117,155],"data":[20],"in":[21,150,204],"a":[22,28,49,84,124,137,151,156,171,185,197,207,223],"brute":[23],"force":[24],"way":[25],"would":[26],"require":[27],"prohibitive":[29],"amount":[30],"of":[31,39,76,94,159,173,188,200],"examples":[32],"effectively":[34],"cover":[35],"combinatorial":[37],"space":[38],"3D":[40],"activities.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47,99,143],"propose":[48],"hand-object":[50],"spatial":[51,114],"representation":[52,61,80],"that":[53],"can":[54,144],"achieve":[55],"generalization":[56],"limited":[58],"data.":[59],"Our":[60,211],"combines":[62],"global":[64],"shape":[66],"as":[67,74,132],"voxel":[68],"occupancies":[69],"with":[70,103],"local":[71],"geometric":[72],"details":[73],"samples":[75],"closest":[77],"distances.":[78],"This":[79],"is":[81,167,213],"used":[82],"by":[83],"neural":[85],"network":[86,102,121,166],"regress":[88],"motions":[90,149],"input":[92],"trajectories":[93],"wrists":[95],"objects.":[97],"Specifically,":[98],"provide":[100],"current":[105],"pose,":[107],"past":[108],"future":[110],"trajectories,":[111],"representations":[115],"extracted":[116],"these":[118],"trajectories.":[119],"The":[120],"then":[122],"predicts":[123],"new":[125],"pose":[127],"for":[128,176,215],"next":[130],"frame":[131],"an":[133],"autoregressive":[134],"model.":[135],"With":[136],"carefully":[138],"chosen":[139],"hand-centric":[140],"coordinate":[141],"system,":[142],"handle":[145],"single-handed":[146],"two-handed":[148],"unified":[152],"framework.":[153],"small":[157,224],"number":[158],"primitive":[160],"kitchenware":[163],"objects,":[164],"able":[168],"synthesize":[170],"variety":[172],"gaits":[175],"grasping,":[177],"in-hand":[178],"manipulation,":[179],"bimanual":[181],"handling":[183],"on":[184],"rich":[186],"set":[187],"novel":[189],"functional":[192],"tasks.":[193],"We":[194],"also":[195],"demonstrate":[196],"live":[198],"demo":[199],"manipulating":[201],"virtual":[202],"objects":[203],"real-time":[205,219],"using":[206],"simple":[208],"physical":[209],"prop.":[210],"system":[212],"useful":[214],"offline":[216],"animation":[217],"or":[218],"applications":[220],"forgiving":[221],"delay.":[225]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2021-08-02T00:00:00"}