论文标题
Handoversim：人身对机器对象的模拟框架和基准交换
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
论文作者
论文摘要
我们引入了一种新的模拟基准“ HandoverSim”，以用于移交对象。为了模拟给予者的运动，我们利用了最新的运动捕获数据集的手动抓握对象的数据集。我们通过标准化协议和指标为接收器创建培训和评估环境。我们分析了一组基线的性能，并显示与现实世界评估的相关性。代码在https://handover-sim.github.io上开放。
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.
