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DexYCB

Introduced by Yu-Wei Chao et al. in DexYCB: A Benchmark for Capturing Hand Grasping of Objects9 Apr 2021 archive 2025-07-28

DexYCB is a dataset for capturing hand grasping of objects. It can be used three relevant tasks: 2D object and keypoint detection, 6D object pose estimation, and 3D hand pose estimation.

The dataset was built using 20 objects from the YCB-Video dataset, and consists of multiple trials from 10 subjects. For each trial, there is a target object with 2 to 4 other objects placed on a table. The subject is asked to start from a relaxed pose, pick up the target object, and hold it in the air. Some subjects were asked to pretend to hand over the object to someone across from them. Each action is recorded for 3 seconds, repeating the trial 5 times for each target object, each time with a random set of accompanied objects and placement. In total there are 100 trials per subject, and 1,000 trials in total for all subjects.

Source: DexYCB: A Benchmark for Capturing Hand Grasping of Objects

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 2 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
3D Hand Pose Estimation DexYCB HOISDF Average MPJPE (mm) 10.1 HOISDF: Constraining 3D Hand-Object Pose Estimation with... amathislab/hoisdf 11 Compare
hand-object pose DexYCB HOISDF Average MPJPE (mm) 10.1 HOISDF: Constraining 3D Hand-Object Pose Estimation with... amathislab/hoisdf 9 Compare

Papers archive 2025-07-28

18 shown of 18 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 94. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
MMHMR: Generative Masked Modeling for Hand Mesh Recovery 0 1 18 Dec 2024 not harvested
A Simple Baseline for Efficient Hand Mesh Reconstruction 1 1 4 Mar 2024 ran 1 of 15 samples (14 unverified)
3D Hand Reconstruction via Aggregating Intra and Inter Graphs Guided by Prior Knowledge for Hand-Object Interaction Scenario 0 1 4 Mar 2024 not harvested
HOISDF: Constraining 3D Hand-Object Pose Estimation with Global Signed Distance Fields 1 2 26 Feb 2024 ran 16 of 23 samples (7 unverified; 23 pointer-only for licence)
gSDF: Geometry-Driven Signed Distance Functions for 3D Hand-Object Reconstruction 1 1 24 Apr 2023 ran 1 of 1 samples (0 unverified; 1 pointer-only for licence)
Harmonious Feature Learning for Interactive Hand-Object Pose Estimation 1 2 1 Jan 2023 not harvested
H2ONet: Hand-Occlusion-and-Orientation-Aware Network for Real-Time 3D Hand Mesh Reconstruction 1 1 1 Jan 2023 not harvested
Interacting Hand-Object Pose Estimation via Dense Mutual Attention 1 1 16 Nov 2022 ran 1 of 5 samples (4 unverified)
AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstruction 2 1 26 Jul 2022 not harvested
Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolution 0 1 27 Apr 2022 not harvested
HandOccNet: Occlusion-Robust 3D Hand Mesh Estimation Network 0 1 28 Mar 2022 ran 6 of 8 samples (2 unverified; 8 pointer-only for licence)
MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Image 1 1 6 Dec 2021 ran 2 of 9 samples (7 unverified)
ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesis 2 1 12 Sep 2021 not harvested
Towards unconstrained joint hand-object reconstruction from RGB videos 1 1 16 Aug 2021 not harvested
Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Time 1 1 9 Jun 2021 not harvested
End-to-End Human Pose and Mesh Reconstruction with Transformers 1 1 17 Dec 2020 not harvested
Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraints 0 1 20 Mar 2020 not harvested
Learning joint reconstruction of hands and manipulated objects 3 1 11 Apr 2019 not harvested

Dataset loaders archive 2025-07-28

No loader listed in the archive.

Tasks archive 2025-07-28

3D Hand Pose Estimationhand-object pose

License archive 2025-07-28

CC BY-NC 4.0

Modalities archive 2025-07-28

Videos

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • DexYCB

1 variant name, as the archive lists them.

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