DexYCB: A Benchmark for Capturing Hand Grasping of Objects

by   Yu-Wei Chao, et al.

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. Dataset and code are available at


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Code Repositories


A Python package that provides evaluation and visualization tools for the DexYCB dataset

view repo

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