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DexYCB: A Benchmark for Capturing Hand Grasping of Objects

arXiv 2104.04631 ↗First posted 9 Apr 2021cs.CVcited by 325

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Abstract (arXiv)

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 detection, 6D object pose estimation, and 3D hand pose estimation. Finally, we evaluate a new robotics-relevant task: generating safe robot grasps in human-to-robot object handover. Dataset and code are available at https://dex-ycb.github.io.

Key facts. Cited by 325 papers in the map (data through 14 Oct 2026). Builds on 41 of its 55 references that are in the map. First posted on arXiv 9 Apr 2021.

Builds on

41 of 55 references.

References · 41

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2017Mask R-CNNcited by 7,277
  3. 2019Deep High-Resolution Representation Learning for Human Pose Estimationcited by 1,339
  4. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  6. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 405
  7. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  8. 2019Learning joint reconstruction of hands and manipulated objectscited by 378
  9. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  10. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  11. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  12. 2020Understanding Human Hands in Contact at Internet Scalecited by 281
29 more
  1. 2019FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Imagescited by 271
  2. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  3. 2020InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Imagecited by 245
  4. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  5. 2017Learning to Estimate 3D Hand Pose from Single RGB Imagescited by 234
  6. 2017Hand Keypoint Detection in Single Images using Multiview Bootstrappingcited by 231
  7. 2017First-Person Hand Action Benchmark with RGB-D Videos and 3D Hand Pose Annotationscited by 230
  8. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  11. 20193D Hand Shape and Pose from Images in the Wildcited by 190
  12. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 183
  13. 20193D Hand Shape and Pose Estimation from a Single RGB Imagecited by 174
  14. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  15. 2017GANerated Hands for Real-time 3D Hand Tracking from Monocular RGBcited by 147
  16. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 141
  17. 2020Leveraging Photometric Consistency over Time for Sparsely Supervised Hand-Object Reconstructioncited by 139
  18. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 114
  19. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  20. 2018Hand Pose Estimation via Latent 2.5D Heatmap Regressioncited by 111
  21. 2020Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraintscited by 97
  22. 2017Real-time Hand Tracking under Occlusion from an Egocentric RGB-D Sensorcited by 84
  23. 2016Real-time Joint Tracking of a Hand Manipulating an Object from RGB-D Inputcited by 56
  24. 2019A2J: Anchor-to-Joint Regression Network for 3D Articulated Pose Estimation from a Single Depth Imagecited by 56
  25. 2017BigHand2.2M Benchmark: Hand Pose Dataset and State of the Art Analysiscited by 46
  26. 2020SOLOv2: Dynamic and Fast Instance Segmentationcited by 37
  27. 2019A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Setcited by 30
  28. 2020Measuring Generalisation to Unseen Viewpoints, Articulations, Shapes and Objects for 3D Hand Pose Estimation under Hand-Object Interactioncited by 24
  29. 2020Human Grasp Classification for Reactive Human-to-Robot Handoverscited by 13

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 7; 2022: 40; 2023: 44; 2024: 74; 2025: 75; 2026: 85.

325 papers.

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  1. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
  2. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 312
  3. 2023Reconstructing Hands in 3D with Transformerscited by 306
  4. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 211
  5. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  6. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 160
  7. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
  8. 2025RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concretecited by 135
  9. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 131
  10. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 129
  11. 2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 124
  12. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 113
38 more
  1. 2025Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videoscited by 102
  2. 2022HandOccNet: Occlusion-Robust 3D Hand Mesh Estimation Networkcited by 96
  3. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 89
  4. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 88
  5. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 86
  6. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  7. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 82
  8. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  9. 2021MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Imagecited by 74
  10. 2022P2P: Tuning Pre-trained Image Models for Point Cloud Analysis with Point-to-Pixel Promptingcited by 74
  11. 2025TAPIP3D: Tracking Any Point in Persistent 3D Geometrycited by 69
  12. 2026SAM 3D Body: Robust Full-Body Human Mesh Recoverycited by 69
  13. 2025HaWoR: World-Space Hand Motion Reconstruction from Egocentric Videoscited by 66
  14. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 66
  15. 2023AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimationcited by 64
  16. 2022LISA: Learning Implicit Shape and Appearance of Handscited by 63
  17. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 62
  18. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 60
  19. 2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 59
  20. 2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 58
  21. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 57
  22. 2022Human-Aware Object Placement for Visual Environment Reconstructioncited by 56
  23. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 56
  24. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 55
  25. 2022Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolutioncited by 54
  26. 2025OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extractioncited by 54
  27. 2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 51
  28. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  29. 2023gSDF: Geometry-Driven Signed Distance Functions for 3D Hand-Object Reconstructioncited by 50
  30. 2023AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Posecited by 49
  31. 2025Any6D: Model-free 6D Pose Estimation of Novel Objectscited by 49
  32. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 48
  33. 2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45
  34. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 44
  35. 2024G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesiscited by 43
  36. 2023KITE: Keypoint-Conditioned Policies for Semantic Manipulationcited by 39
  37. 2024Hand-Object Interaction Pretraining from Videoscited by 39
  38. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 38

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