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HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers Yu-Wei Chao 1 Chris Paxton 1 Yu Xiang 2 Wei Yang 1 Balakumar Sundaralingam 1 Tao Chen 3 Adithyavairavan Murali 1 Maya Cakmak 1,4 Dieter Fox 1,4 1 NVIDIA, 2 UT Dallas, 3 MIT CSAIL, 4 University of Washington IEEE International Conference on Robotics and Automation (ICRA), 2022 Abstract We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasping of objects. We create training and evaluation environments for the receiver with standardized protocols and metrics. We analyze the performance of a set of baselines and show a correlation with a real-world evaluation. Paper PDF arXiv Citing HandoverSim Please cite HandoverSim if it helps your research: @INPROCEED...
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