DexYCB: A Benchmark for Capturing Hand Grasping of Objects

           Yu-Wei Chao1            Wei Yang1            Yu Xiang1            Pavlo Molchanov1            Ankur Handa1            Jonathan Tremblay1            Yashraj S. Narang1            Karl Van Wyk1            Umar Iqbal1            Stan Birchfield1            Jan Kautz1            Dieter Fox1,2
1NVIDIA, 2University of Washington
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021


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.


Citing DexYCB

Please cite DexYCB if it helps your research:

  author    = {Yu-Wei Chao and Wei Yang and Yu Xiang and Pavlo Molchanov and Ankur Handa and Jonathan Tremblay and Yashraj S. Narang and Karl {Van Wyk} and Umar Iqbal and Stan Birchfield and Jan Kautz and Dieter Fox},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  title     = {{DexYCB}: A Benchmark for Capturing Hand Grasping of Objects},
  year      = {2021},


DexYCB is licensed under CC BY-NC 4.0.

We provide two options for downloading the dataset:

  1. A single compressed file that contains everything: dex-ycb-20210415.tar.gz (119G). Download this file to a new folder and extract it with:

    tar zxvf dex-ycb-20210415.tar.gz
  2. A breakdown to multiple compressed files, each containing a sub-folder. Download all the files below to a new folder and extract them individually:

Once you successfully download and extract the dataset, you should have a folder with the following structure:

├── 20200709-subject-01/
├── 20200813-subject-02/
├── ...
├── calibration/
└── models/

For instructions about using the dataset please see dex-ycb-toolkit.


A Python package that provides evaluation and visualization tools for the DexYCB dataset.



Send any comments or questions to Yu-Wei Chao:

Last updated on 2021/04/15