Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: DexYCB: A Benchmark for Capturing Hand Grasping of Objects   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. Dataset and
code are available at https://dex-ycb.github.io.

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The categories of this paper are: gr-qc
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: nlin
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The categories of this paper are: ao-sci
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The categories of this paper are: chao-dyn
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The categories of this paper are: physics
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The categories of this paper are: solv-int
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The categories of this paper are: patt-sol
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The categories of this paper are: cmp-lg
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The categories of this paper are: supr-con
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The categories of this paper are: hep-ph
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The categories of this paper are: funct-an
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The categories of this paper are: adap-org
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The categories of this paper are: q-fin
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The categories of this paper are: hep-ex