{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/top-1-corsmal-challenge-2020-submission","title":"Top-1 CORSMAL Challenge 2020 Submission: Filling Mass Estimation Using Multi-modal Observations of Human-robot Handovers","arxiv_id":"2012.01311","date":"2020-12-02","proceeding":null,"authors":["Vladimir Iashin","Francesca Palermo","Gökhan Solak","Claudio Coppola"],"abstract":"Human-robot object handover is a key skill for the future of human-robot collaboration. CORSMAL 2020 Challenge focuses on the perception part of this problem: the robot needs to estimate the filling mass of a container held by a human. Although there are powerful methods in image processing and audio processing individually, answering such a problem requires processing data from multiple sensors together. The appearance of the container, the sound of the filling, and the depth data provide essential information. We propose a multi-modal method to predict three key indicators of the filling mass: filling type, filling level, and container capacity. These indicators are then combined to estimate the filling mass of a container. Our method obtained Top-1 overall performance among all submissions to CORSMAL 2020 Challenge on both public and private subsets while showing no evidence of overfitting. Our source code is publicly available: https://github.com/v-iashin/CORSMAL","url_abs":"https://arxiv.org/abs/2012.01311v1","url_pdf":"https://arxiv.org/pdf/2012.01311v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"top-1-corsmal-challenge-2020-submission","repo_url":"https://github.com/v-iashin/CORSMAL","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"capacity-estimation","task_name":"Capacity Estimation"},{"task_slug":null,"task_name":"Filling Level Estimation"},{"task_slug":null,"task_name":"Filling Mass Estimation"},{"task_slug":null,"task_name":"Filling Type Estimation"}],"methods":[{"method_slug":"adam","method_name":"Adam"},{"method_slug":"gru","method_name":"GRU"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}