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ResearchFormerly WizWand

Human-to-Robot Handover

Benchmarks

DatasetSOTA methodMetricTrendResultsLast updated

HandoverSim Simultaneous setting s0 (test)

Landmark Planning

85.65Success Rate (%)

15

Feb 26, 2026

HandoverSim s0 (Sequential) v1 (test)

Landmark Planning

86.57Success Rate

13

Feb 26, 2026

GenH2R-Sim t1 v1 (test)

Landmark Planning

68.33Success Rate

12

Feb 26, 2026

GenH2R-Sim t0 v1 (test)

Landmark Planning

41.43Success Score (S)

12

Feb 26, 2026

HandoverSim Sequential setting s0 (test)

0.752Success Rate

5

Feb 26, 2026

Human-to-Robot Handover (Setting 1)

26Identify SR

4

Jun 12, 2026

DexYCB s0 mocap-based (test)

77.78Success Rate

4

Feb 26, 2026

n0 synthetic (test)

53.4Success Rate

4

Feb 26, 2026

m0 synthetic (test)

63.8Success Rate

4

Feb 26, 2026

1000 simulated episodes Human-to-robot handover

87.17Success Rate

3

Feb 26, 2026

Human-to-Robot Handover (Setting 2)

14Identification Success Rate

2

Jun 12, 2026

Real-world Complex Setting Sim-to-Real

70Success Rate

2

Feb 26, 2026

Real-world Simple Setting Sim-to-Real

90Success Rate

2

Feb 26, 2026

HandoverSim Sim-to-Real Pilot Study Subject 2 1.0 (test)

—

—Primary metric

0

Feb 26, 2026

HandoverSim Sim-to-Real Pilot Study Subject 1 1.0 (test)

—

—Primary metric

0

Feb 26, 2026