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GraspHOI: Full-Body 3D Human-Object Reconstruction with Finger-Level Grasps from a Single In-the-Wild Image

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Existing monocular full-body 3D human-object interaction (HOI) methods do not combine explicit finger-level grasp optimization with category-agnostic object reconstruction. Despite plausible body-object configurations, their fingers may float from or penetrate objects instead of forming a grasp. We present GraspHOI, the first framework that reconstructs a full-body 3D HOI from a single image while explicitly optimizing finger articulation against the reconstructed object. GraspHOI recovers object geometry directly, without predefined meshes or a fixed category vocabulary. It reconstructs the b

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