BG-HOP: A Bimanual Generative Hand-Object Prior

In this work, we present BG-HOP, a generative prior that seeks to model bimanual hand-object interactions in 3D. We address the challenge of limited bimanual interaction data by extending existing single-hand generative priors, demonstrating preliminary results in capturing the joint distribution of hands and objects. Our experiments showcase the model's capability to generate bimanual interactions and synthesize grasps for given objects. We make code and models publicly available.

@article{krishna2025_2506.09068,
  title={ BG-HOP: A Bimanual Generative Hand-Object Prior },
  author={ Sriram Krishna and Sravan Chittupalli and Sungjae Park },
  journal={arXiv preprint arXiv:2506.09068},
  year={ 2025 }
}