ResearchBenchmarksHuman-to-robot handover on 1000 simulated episodesHuman-to-robot handover on 1000 simulated episodesFollow87.17Success RateContactRL31.176445.713260.2574.7868Dec 3, 2025Evaluation resultsMethodMethodLinksSuccess RateLatency (s)FN Mean Count (N)Violation CountSV RateRMS Jerk (m/s^3)ContactRL2025.1287.17——120—SACLag2025.1255.6——120—CPO2025.1233.33——7241—