MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data

Zifan Wang, Ziqing Chen, Junyu Chen, Jilong Wang, Yuxin Yang, Yunze Liu, Xueyi Liu, He Wang, Li Yi; Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR), 2025, pp. 17315-17325

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a large workspace enabled by its mobility. Our key insight is that generalizable handover skills can be developed in simulators using high-quality synthetic data, without the need for real-world demonstrations. To achieve this, we propose a scalable pipeline for generating diverse synthetic full-body human motion data, an automated method for creating safe and imitation-friendly demonstrations, and an efficient 4D imitation learning method for distilling large-scale demonstrations into closed-loop policies with base-arm coordination. Experimental evaluations in both simulators and the real world show significant improvements (at least +15% success rate) over baseline methods in all cases. Experiments also validate that large-scale and diverse synthetic data greatly enhances robot learning, highlighting our scalable framework.