{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/dexycb-a-benchmark-for-capturing-hand","title":"DexYCB: A Benchmark for Capturing Hand Grasping of Objects","arxiv_id":"2104.04631","date":"2021-04-09","proceeding":"CVPR 2021 1","authors":["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"],"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. Dataset and code are available at https://dex-ycb.github.io.","url_abs":"https://arxiv.org/abs/2104.04631v1","url_pdf":"https://arxiv.org/pdf/2104.04631v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"dexycb-a-benchmark-for-capturing-hand","repo_url":"https://github.com/NVlabs/dex-ycb-toolkit","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"GPL-3.0"}},{"paper_slug":"dexycb-a-benchmark-for-capturing-hand","repo_url":"https://github.com/rongakowang/densemutualattention","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-hand-pose-estimation","task_name":"3D Hand Pose Estimation"},{"task_slug":"6d-pose-estimation","task_name":"6D Pose Estimation using RGB"},{"task_slug":"hand-pose-estimation","task_name":"Hand Pose Estimation"},{"task_slug":"keypoint-detection","task_name":"Keypoint Detection"},{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[{"slug":"dexycb","name":"DexYCB","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2104.04631","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}