Human-to-Robot Handovers of Unseen Containers with Unknown Filling

Handover Human–Robot Interaction Computer Vision Robot Control Python ROS

System for human-to-robot handover of unseen containers with unknown filling, with perception (vision) and robot control modules.

GitHub Repository Webpage

Towards Safe Human-to-Robot Handovers of Unknown Containers

Robotics Simulation Computer Vision Handover Python PyBullet

Real-to-simulation framework for safe human-to-robot handovers using visual estimation of object and hand properties.

GitHub Repository Webpage

LoDE: Localisation and Object Dimensions Estimator

Computer Vision 3D Reconstruction Multi‑View Python

Joint localisation and dimension estimation of container-like objects using generative 3D sampling and multi-view fitting.

GitHub Repository Webpage

WHC: Whole‑Body Control with QP

Library Robotics Control C++

Generic whole-body control library implementing inverse dynamics and kinematics using quadratic programming.

GitHub Repository

Carefulness Detection

Robotics Dynamics Classification MATLAB Python ROS

Dynamical systems model that classifies handovers as careful or not based on motion patterns.

GitHub Repository

ACC: Audio Content Classification

Audio Classification

Models for identifying actions (shaking or pouring) and classifying content type and level using audio spectrograms.

GitHub Repository Webpage

PRIME: A Few Primitives Can Boost Robustness to Common Corruptions

Robustness Data Augmentation Computer Vision

Plug‑and‑play augmentation scheme using max‑entropy transformations to improve robustness to common corruptions.

GitHub Repository

NADs: Neural Anisotropy Directions

Deep Learning Inductive Bias

Reproduce the results of NADs, capturing directional inductive biases of neural architectures.

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Hold Me Tight!

Deep Learning Feature Analysis

Reproduce the analysis of discriminative features and their influence on deep network decision boundaries.

GitHub Repository

ColorFool: Semantic Adversarial Colorization

Adversarial ML Semantic Segmentation

Generate adversarial images by perturbing semantic regions within natural color ranges.

GitHub Repository Paper Webpage

CORSMAL Challenge Evaluation Toolkit

Toolkit Evaluation Challenge

Toolkit for the CORSMAL Challenge, providing metrics and scripts for benchmarking submissions and evaluation.

GitHub Repository Webpage

Toolkit for the CHOC Dataset

Toolkit Pose Estimation Computer Vision

Toolkit with utilities for the CORSMAL Hand-Occluded Containers (CHOC) dataset, including loading, visualization, and evaluation tools.

GitHub Repository Webpage Dataset

Toolkit for Rendering Composite Images

Toolkit Rendering Blender

Toolkit to automatically render composite images of handheld containers over real backgrounds using Blender and Python, combining synthetic objects, hands, and forearms.

GitHub Repository Webpage Dataset

CHOC-NOCS for 6D Object Pose Estimation with Hand Occlusions

6D Pose Estimation Hand Occlusions Computer Vision

Software to run a multi-branch convolutional neural network, adapted from NOCS and retrained at QMUL, for category-level 6D pose estimation on images of hand-occluded containers.

GitHub Repository Webpage Dataset

Software from people using project data and models, software, and benchmarks

	Improving Generalization of Deep Networks for Estimating Physical Properties of Containers and Fillings Software of the solution submitted by the team Squids at the 2022 ICASSP CORSMAL challenge. [code] [paper]
	Shared Transformer Encoder with Mask-based 3D Model Estimation for Container Mass Estimation Software of the solution submitted by the team KEIO-ICS at the 2022 ICASSP CORSMAL challenge. [code]
	Container localisation and mass estimation with an RGB-D camera Software of the solution submitted by the team Visual at the 2022 ICASSP CORSMAL challenge. [code] [paper]
	Filling mass estimation using multi-modal observations of human-robot handovers Software of the solution submitted by the Because It's Tactile team at the 2020 CORSMAL challenge. [code] [paper] [video] [slides]
	Audio-Visual Hybrid Approach for Filling Mass Estimation Software of the solution submitted by the HVRL team at the 2020 CORSMAL challenge. [code] [paper] [video] [slides]
	NTNU-ERC solution for filling mass estimation Software of the solution submitted by the NTNU-ERC team at the 2020 CORSMAL challenge. [code] [slides]