BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objects

Figure 1 . Given the mesh of an articulated object and its 7 DoF trajectories with 6D global states and 1D articulation, BimArt generates diverse and plausible hand motions that justify the object's trajectory. Distance-based contact maps act as intermediate features for handobject interaction, enabling our method to generate diverse and realistic bimanual motions.