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2026-02-14 21:20:32
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DexYCB: A Benchmark for Capturing Hand Grasping of Objects DexYCB: A Benchmark for Capturing Hand Grasping of Objects Yu-Wei Chao 1 Wei Yang 1 Yu Xiang 1 Pavlo Molchanov 1 Ankur Handa 1 Jonathan Tremblay 1 Yashraj S. Narang 1 Karl Van Wyk 1 Umar Iqbal 1 Stan Birchfield 1 Jan Kautz 1 Dieter Fox 1,2 1 NVIDIA, 2 University of Washington IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021 Abstract We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant tasks: 2D object and keypoint ...
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