CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis

Figure 1 . Given a sequence of manipulation goals, our method can generate realistic and diverse functional manipulation motions consistent with the goal sequence. The motions are expressed in snapshots at several keyframes. On the left side, we show a goal sequence of opening a laptop and two different manipulation patterns that can be generated by our method. On the right side, we show our generation results of three manipulation tasks corresponding to different object categories.