Publications


 		The Role of Object Physical Properties in Human Handover Actions: Applications in Robotics
N. F. Duarte, A. Billard and J. Santos-Victor
IEEE Transactions on Cognitive and Developmental Systems, November 2022.
[paper]

The CORSMAL benchmark for the prediction of the properties of containers
A. Xompero, S. Donaher, V. Iashin, F. Palermo, G. Solak, C. Coppola, R. Ishikawa, Y. Nagao, R. Hachiuma, Q. Liu, F. Feng, C. Lan, R. H. M. Chan, G. Christmann, J. Song, G. Neeharika, C. K. T. Reddy, D. Jain, B. U. Rehman, A. Cavallaro
IEEE Access, vol. 10, 2022.
[paper] [arxiv] [details]

PRIME: A few primitives can boost robustness to common corruptions
A. Modas, R. Rade, G. Ortiz-Jiménez, S. Moosavi-Dezfooli, P. Frossard
European Conference on Computer Vision (ECCV), Tel-Aviv, Israel, 23-27 October 2022
[arxiv] [code]

Data augmentation with mixtures of max-entropy transformations for filling-level classification
A. Modas, A. Cavallaro, P. Frossard
European Signal Processing Conference (EUSIPCO), Belgrade, Serbia, 29 August - 2 September 2022
[arxiv] [video]


Audio-Visual Object Classification for Human-Robot Collaboration
A. Xompero, Y. L. Pang, T. Patten, A. Prabhakar, B. Calli, A. Cavallaro
IEEE International Conference on Acoustic, Speech and Signal Processing (ICASSP), Singapore and Virtual, 22-27 May 2022.
[paper] [arxiv] [details] [video] [poster]

Simultaneous Tactile Localization and Reconstruction of an Object during Robotic Manipulation
G. Kissoum, V. Perdereau
International Conference on Advanced Robotic (ICAR), 6-10 December 2021.
[paper]
AI-HRI21 Multimodal Sensory Learning for Real-time, Adaptive Manipulation
A. Prabhakar, S. Furrer, L. Panchetti, M. Perret, and A. Billard
Artificial Intelligence for Human-Robot Interaction (AI-HRI), AAAI Fall Symposium Series, Virtual, 4-6 Nov 2021.
[arxiv] [video] [dataset]
IROS21 OHPL: One-shot Hand-eye Policy Learner
C. Oh, Y. L. Pang, and A. Cavallaro
IEEE International Conference on Intelligent Robots and Systems (IROS), Virtual, 27 Sep - 1 Oct 2021.
[paper] [arxiv] [details]
RO-MAN21 Towards safe human-to-robot handovers of unknown containers
Y. L. Pang, A. Xompero, C. Oh, and A. Cavallaro
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Virtual, 8-12 Aug 2021.
[paper] [arxiv] [details] [slides] [video] [code]
ICIP21 Improving filling level classification with adversarial training
A. Modas, A. Xompero, R. Sanchez-Matilla, P. Frossard, and A. Cavallaro
IEEE International Conference on Image Processing (ICIP), Anchorage, Alaska, USA, 19-22 Sep 2021.
[paper] [arxiv] [details] [poster] [slides] [video]
EUSIPCO21 Audio classification of the content of food containers and drinking glasses
S. Donaher, A. Xompero, and A. Cavallaro
European Signal Processing Conference (EUSIPCO), Virtual, 23-27 August 2021.
[paper] [arxiv] [details] [slides] [video] [code]
Optimism in the Face of Adversity Optimism in the Face of Adversity: Understanding and Improving Deep Learning Through Adversarial Robustness
G. Ortiz-Jimenez, A. Modas, S.-M. Moosavi-Dezfooli, and P. Frossard
Proceedings of the IEEE, vol. 109, no. 5, pp. 635-659, May 2021.
[paper] [arxiv]
ICDL-EpiRob From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues
N. Ferreira Duarte, K. Chatzilygeroudis, J. Santos-Victor, and A. Billard
Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 26-30 October 2020.
[paper] [open access] [video] [code]
Hold Me Tight Hold me tight! Influence of discriminative features on deep network boundaries
G. Ortiz-Jimenez, A. Modas, S.-M. Moosavi-Dezfooli, and P. Frossard
Advances in Neural Information and Processing Systems (NeurIPS) 34, 6-12 December 2020.
[paper] [arxiv]
Neural anisotropy Neural anisotropy directions
G. Ortiz-Jimenez*, A. Modas*, S.-M. Moosavi-Dezfooli, and P. Frossard
Advances in Neural Information and Processing Systems (NeurIPS) 34, 6-12 December 2020.
[paper] [arxiv]
CIFAR Redundant Features can Hurt Robustness to Distribution Shift
G. Ortiz-Jimenez, A. Modas, S. Moosavi-Dezfooli, and P. Frossard
International Conference on Machine Learning, Workshop on Uncertainty & Robustness in Deep Learning (ICML-UDL), July 17, 2020.
[open access] [arxiv]
SPM Towards Robust Sensing for Autonomous Vehicles: An Adversarial Perspective
A. Modas, R. Sanchez-Matilla, P. Frossard, and A. Cavallaro
IEEE Signal Processing and Magazine (SPM), vol. 37, no. 4, July 2020.
[paper] [arxiv]
ColorFool ColorFool: Semantic Adversarial Colorization
A. S. Shamsabadi, R. Sanchez-Matilla, and A. Cavallaro
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, Washington, 16-18 June, 2020.
[paper] [open access] [arxiv] [details] [code]
LoDE Multi-view Shape Estimation of Transparent Containers
A. Xompero, R. Sanchez-Matilla, A. Modas, P. Frossard, and A. Cavallaro
IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Barcelona, Spain, 4-8 May 2020.
[paper] [arxiv] [details] [video] [data]
Benchmark Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling
R. Sanchez-Matilla, K. Chatzilygeroudis, A. Modas, N. Ferreira Duarte, A. Xompero, P. Frossard, A. Billard, and A. Cavallaro
IEEE Robotics and Automation Letters (RA-L), vol.5, no. 2, Apr. 2020.
[paper] [details]
Grasp Forces On Force Synergies in Human Grasping Behavior
J. Starke, K. Chatzilygeroudis, A. Billard, and T. Asfour
IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, 15-17 October, 2019.
[paper] [open access]

Publications that used datasets and models produced by CORSMAL

Squids
Squids 		Improving Generalization of Deep Networks for Estimating Physical Properties of Containers and Fillings
H. Wang, C. Zhu, Z. Ma, C. Oh
IEEE International Conference on Acoustic, Speech and Signal Processing (ICASSP), Singapore and Virtual, 22-27 May 2022.
[paper] [arxiv] [code]
KEIO-ICS Shared Transformer Encoder with Mask-based 3D Model Estimation for Container Mass Estimation
T. Matsubara, S. Otsuki, Y. Wada, H. Matsuo, T. Komatsu, Y. Iioka, K. Sugiura, H. Saito
IEEE International Conference on Acoustic, Speech and Signal Processing (ICASSP), Singapore and Virtual, 22-27 May 2022.
[paper] [code]
Visual Container localisation and mass estimation with an RGB-D camera
T. Apicella, G. Slavic, E. Ragusa, P. Gastaldo, L. Marcenaro
IEEE International Conference on Acoustic, Speech and Signal Processing (ICASSP), Singapore and Virtual, 22-27 May 2022.
[paper] [arxiv] [code]
Because It's Tactile Top-1 CORSMAL Challenge 2020 submission:
Filling mass estimation using multi-modal observations of human-robot handovers
V. Iashin, F. Palermo, G. Solak, and C. Coppola
International Conference on Pattern Recognition (ICPR) 2020 Workshops and Challenges, 10-15 Jan. 2021
[paper] [arxiv] [video] [slides]
HVLR Audio-Visual Hybrid Approach for Filling Mass Estimation
R. Ishikawa, Y. Nagao, R. Hachiuma, and H. Saito
International Conference on Pattern Recognition (ICPR) 2020 Workshops and Challenges, 10-15 Jan. 2021
[paper] [video] [slides]
Concatenation VA2Mass: Towards the Fluid Filling Mass Estimation via Integration of Vision & Audio Learning
Q. Liu, F. Feng, C. Lan, and R.H.M. Chan
International Conference on Pattern Recognition (ICPR) 2020 Workshops and Challenges, 10-15 Jan. 2021
[paper] [video] [slides]