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

• URL: http://arxiv.org/abs/2205.09747v1
• Date: Thu, 19 May 2022 17:59:00 GMT
• Title: HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
• Authors: Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
• Abstract summary: "HandoverSim" is a simulation benchmark for human-to-robot object handovers. 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.
• Score: 60.45158007016316
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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. Code is open sourced at https://handover-sim.github.io.

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