DexYCB: A Benchmark for Capturing Hand Grasping of Objects

Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021, pp. 9044-9053

Abstract

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.

Related Material

[pdf] [supp] [arXiv]
[bibtex]
@InProceedings{Chao_2021_CVPR, author = {Chao, Yu-Wei and Yang, Wei and Xiang, Yu and Molchanov, Pavlo and Handa, Ankur and Tremblay, Jonathan and Narang, Yashraj S. and Van Wyk, Karl and Iqbal, Umar and Birchfield, Stan and Kautz, Jan and Fox, Dieter}, title = {DexYCB: A Benchmark for Capturing Hand Grasping of Objects}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, month = {June}, year = {2021}, pages = {9044-9053} }