Physically Grounded 3D Generative Reconstruction under Hand Occlusion using Proprioception and Multi-Contact Touch

ArXi:2604.09100v1 Announce Type: new We propose a multimodal, physically grounded approach for metric-scale amodal object reconstruction and pose estimation under severe hand occlusion. Unlike prior occlusion-aware 3D generation methods that rely only on vision, we leverage physical interaction signals: proprioception provides the posed hand geometry, and multi-contact touch constrains where the object surface must lie, reducing ambiguity in occluded regions.