mlsanityData to 7 Oct 2026

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

arXiv 2205.09747 ↗First posted 19 May 2022cs.RO cs.CVcited by 15

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Abstract (arXiv)

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.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). Builds on 40 of its 54 references that are in the map. First posted on arXiv 19 May 2022.

Builds on

40 of 54 references.

References · 40

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28 more
  1. 2018Gibson Env: Real-World Perception for Embodied Agentscited by 477
  2. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  3. 2017Embodied Question Answeringcited by 335
  4. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  5. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 229
  6. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
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  12. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
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  18. 2019A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Setcited by 30
  19. 2020Object Handovers: a Review for Roboticscited by 28
  20. 2020Reactive Human-to-Robot Handovers of Arbitrary Objectscited by 25
  21. 2020Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Cloudscited by 24
  22. 2020Object-Independent Human-to-Robot Handovers using Real Time Robotic Visioncited by 17
  23. 2019Learning to Collaborate from Simulation for Robot-Assisted Dressingcited by 16
  24. 2021H2O: A Benchmark for Visual Human-human Object Handover Analysiscited by 16
  25. 2019Manipulation Trajectory Optimization with Online Grasp Synthesis and Selectioncited by 15
  26. 2020Human Grasp Classification for Reactive Human-to-Robot Handoverscited by 13
  27. 2020Affordance-Aware Handovers with Human Arm Mobility Constraintscited by 8
  28. 2021Visualizing Robot Intent for Object Handovers with Augmented Realitycited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 1; 2025: 5; 2026: 4.

15 papers.

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  1. 2023DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objectscited by 64
  2. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  3. 2023GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Graspingcited by 23
  4. 2024GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitationcited by 14
  5. 2023SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handoverscited by 13
  6. 2025HORT: Monocular Hand-held Objects Reconstruction with Transformerscited by 11
  7. 2025RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrationscited by 4
  8. 2025Learning human-to-robot handovers through 3D scene reconstructioncited by 1
  9. 2025Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffuserscited by 1
  10. 2025PointNet4D: A Lightweight 4D Point Cloud Video Backbone for Online and Offline Perception in Robotic Applicationscited by 1
  11. 2026GenHOI: Generalized Hand-Object Pose Estimation with Occlusion Awarenesscited by 1
  12. 2023Latent Emission-Augmented Perspective-Taking (LEAPT) for Human-Robot Interactioncited by 0
3 more
  1. 2026HRIBench: Benchmarking Interaction-Centric Human-Robot Collaborationcited by 0
  2. 2026RGB-D Video Generation for Improving Human-to-Robot Object Handover Predictioncited by 0
  3. 2026Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligencecited by 0