HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers

We introduce a new simulation benchmark “Han-doverSim” 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.
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Code is open sourced at https://handover-sim.github.io.