构建机器人递物模拟评估框架，提升人机交接评价客观性
R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
- 设计仿真基准系统，统一评估机器人递物的共享抓握姿态
- 30人实验验证：五项综合指标比成功率更贴合真实体验
- 适合人机交互、机器人动作规划研究者参考
我们提出R2HandoverSim，一个用于机器人向人类递物（R2H）的仿真评估基准。尽管R2H递物方法发展迅速，但缺乏标准化评估协议，阻碍了客观比较。本基准通过系统对比四种基线模型预测的共享抓握姿态，实现可复现的评估。我们开展了包含30名参与者的用户研究，分析基线性能，并证明仿真结果与现实评估结果高度相关。关键发现是，五个互补指标——规划可行性、可达性、抓握稳定性、抓握可用性和安全性——比单一成功率更能反映用户感知的递物质量。项目网站与代码：https://robot-future.github.io/r2handoversim/
原文摘要 · Abstract (English)
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/.
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