@article{r2handoversimasimulationframeworkandbenc,
  title = {R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers},
  author = {Hanxin Zhang and Abdulqader Dhafer and Hongbiao Dong and Zhou Daniel Hao},
  year = {2026},
  eprint = {2606.21011},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.21011},
}