HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao,Chris Paxton,Yu Xiang,Wei Yang,Balakumar Sundaralingam,Tao Chen,Adithyavairavan Murali,Maya Cakmak,Dieter Fox,Yu-Wei Chao,Chris Paxton,Yu Xiang,Wei Yang,Balakumar Sundaralingam,Tao Chen,Adithyavairavan Murali,Maya Cakmak,Dieter Fox
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 evaluati...
