1. [Publications](/publications)
2. Reactive Human-to-Robot Handovers of Arbitrary Objects
 
 # Reactive Human-to-Robot Handovers of Arbitrary Objects

  ![](/sites/default/files/publications/website_cover_v2_4x.gif) 

 Human-robot object handovers have been an actively studied area of robotics over the past decade. However, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape, and rigidity.

We present a vision-based system that enables reactive human-to-robot handovers of unknown objects. Our approach combines closed-loop motion planning with real-time, temporally-consistent grasp generation to ensure reactivity and motion smoothness. Our system is robust to different object positions and orientations, and can grasp both rigid and non-rigid objects.



 ## Authors



[Wei Yang](/person/wei-yang)

Chris Paxton (NVIDIA)

Arsalan Mousavian (NVIDIA)

[Yu-Wei Chao](/person/yu-wei-chao)

Maya Cakmak (NVIDIA, University of Washington)

Dieter Fox (NVIDIA)

 

 

 ## Publication Date



Thursday, March 25, 2021

 

 ## Published in



ICRA 2021

 

 ## Research Area



[Computer Vision](/research-area/computer-vision)

[Robotics](/research-area/robotics)

 

 

 ## External Links



[Project Page](https://sites.google.com/nvidia.com/handovers-of-arbitrary-objects)

[arXiv](https://arxiv.org/abs/2011.08961)

 

 

 ## Uploaded Files



[website\_cover.mp4](https://d1qx31qr3h6wln.cloudfront.net/publications/website_cover.mp4 "Open video in new window")6.73 MB

 

 

 ## Award



Best Paper in Human-Robot Interaction, ICRA 2021