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- W3154023894 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." @default.
- W3154023894 created "2021-04-26" @default.
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- W3154023894 date "2021-04-09" @default.
- W3154023894 modified "2023-09-23" @default.
- W3154023894 title "DexYCB: A Benchmark for Capturing Hand Grasping of Objects" @default.
- W3154023894 doi "https://doi.org/10.48550/arxiv.2104.04631" @default.
- W3154023894 hasPublicationYear "2021" @default.
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