  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.
