# Toward Human-Robot Teaming: Learning Handover Behaviors from 3D Scenes

arXiv: https://arxiv.org/abs/2508.09855 · HTML: https://mlsanity.com/paper/2508.09855/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 7 references that are in the map.
- First posted on arXiv 13 Aug 2025.

## Builds on (most cited first, 5 of 5)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [FSGS: Real-Time Few-shot View Synthesis using Gaussian Splatting](https://mlsanity.com/paper/2312.00451/) (2023)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [OHPL: One-shot Hand-eye Policy Learner](https://mlsanity.com/paper/2108.03318/) (2021)
- [Learning human-to-robot handovers through 3D scene reconstruction](https://mlsanity.com/paper/2507.08726/) (2025)

## Abstract (arXiv)

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although simulation training offers a cost-effective alternative, the visual domain gap between simulation and robot workspace remains a major limitation. We introduce a method for training HRT policies, focusing on human-to-robot handovers, solely from RGB images without the need for real-robot training or real-robot data collection. The goal is to enable the robot to reliably receive objects from a human with stable grasping while avoiding collisions with the human hand. The proposed policy learner leverages sparse-view Gaussian Splatting reconstruction of human-to-robot handover scenes to generate robot demonstrations containing image-action pairs captured with a camera mounted on the robot gripper. As a result, the simulated camera pose changes in the reconstructed scene can be directly translated into gripper pose changes. Experiments in both Gaussian Splatting reconstructed scene and real-world human-to-robot handover experiments demonstrate that our method serves as a new and effective representation for the human-to-robot handover task, contributing to more seamless and robust HRT.