R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
For researchers in human-robot interaction, this benchmark addresses the lack of standardized evaluation protocols in R2H handovers.
R2HandoverSim provides a standardized simulation benchmark for robot-to-human object handovers, enabling reproducible evaluation of four baselines. A user study with 30 participants shows that five complementary metrics correlate with real-world outcomes better than success rate alone.
We present R2HandoverSim, a simulation benchmark for robot-to-human (R2H) object handovers. Although R2H handover methods have advanced rapidly, the lack of standardized evaluation protocols impedes objective comparison. Our benchmark enables reproducible evaluation by systematically comparing four baselines on their predicted shared grasp poses. We conduct a user study with 30 participants, analyze baseline performance, and show that simulation results correlate with real-world evaluation outcomes. Crucially, five complementary metrics (planning feasibility, reachability, grasp stability, grasp affordance, and safety) better reflect user-perceived handover quality than overall success rate alone. Website and code: https://robot-future.github.io/r2handoversim/.