  This paper presents a novel object-centric contact representation ContactGen
for hand-object interaction. The ContactGen comprises three components: a
contact map indicates the contact location, a part map represents the contact
hand part, and a direction map tells the contact direction within each part.
Given an input object, we propose a conditional generative model to predict
ContactGen and adopt model-based optimization to predict diverse and
geometrically feasible grasps. Experimental results demonstrate our method can
generate high-fidelity and diverse human grasps for various objects. Project
page: https://stevenlsw.github.io/contactgen/
