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We introduce a new simulation benchmark "HandoverSim" for human-to-robotobject handovers. To simulate the giver's motion, we leverage a recent motioncapture dataset of hand grasping of objects. We create training and evaluationenvironments for the receiver with standardized protocols and metrics. Weanalyze the performance of a set of baselines and show a correlation with areal-world evaluation. Code is open sourced at https://handover-sim.github.io.

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers