diff --git a/_config.yml b/_config.yml new file mode 100644 index 0000000..f4a75b4 --- /dev/null +++ b/_config.yml @@ -0,0 +1,10 @@ +theme: jekyll-theme-dinky +title: [handover failure detection] +zenodo: + dataset_url: https://zenodo.org/ +publication: + pdf_url: https://arxiv.org/ +competition: + competition_url: https://codalab.lisn.upsaclay.fr/ +github: + is_project_page: False diff --git a/_layouts/default.html b/_layouts/default.html new file mode 100644 index 0000000..ebe4a8d --- /dev/null +++ b/_layouts/default.html @@ -0,0 +1,53 @@ + + + + + + +{% seo %} + + + + + + +
+
+

{{ site.title | default: site.github.repository_name }}

+

{{ site.description | default: site.github.project_tagline }}

+ + + + {% if site.github.is_project_page %} +

This project is maintained by {{ site.github.owner_name }}

+ {% endif %} + + {% if site.github.is_user_page %} + + {% endif %} +
+ +
+ {{ content }} +
+ + +
+ + + diff --git a/_sass/jekyll-theme-dinky.scss b/_sass/jekyll-theme-dinky.scss new file mode 100644 index 0000000..5d82994 --- /dev/null +++ b/_sass/jekyll-theme-dinky.scss @@ -0,0 +1,434 @@ +@import "rouge-github"; +@import url('https://fonts.googleapis.com/css?family=Arvo:400,700,400italic'); + +/* MeyerWeb Reset */ + +html, body, div, span, applet, object, iframe, +h1, h2, h3, h4, h5, h6, p, blockquote, pre, +a, abbr, acronym, address, big, cite, code, +del, dfn, em, img, ins, kbd, q, s, samp, +small, strike, strong, sub, sup, tt, var, +b, u, i, center, +dl, dt, dd, ol, ul, li, +fieldset, form, label, legend, +table, caption, tbody, tfoot, thead, tr, th, td, +article, aside, canvas, details, embed, +figure, figcaption, footer, header, hgroup, +menu, nav, output, ruby, section, summary, +time, mark, audio, video { + margin: 0; + padding: 0; + border: 0; + font: inherit; + vertical-align: baseline; +} + + +/* Base text styles */ + +body { + padding:10px 50px 0 0; + font-family:"Helvetica Neue", Helvetica, Arial, sans-serif; + font-size: 14px; + color: #232323; + background-color: #FBFAF7; + margin: 0; + line-height: 1.8em; + -webkit-font-smoothing: antialiased; + +} + +h1, h2, h3, h4, h5, h6 { + color:#232323; + margin:36px 0 10px; +} + +p, ul, ol, table, dl { + margin:0 0 22px; +} + +h1, h2, h3 { + font-family: Arvo, Monaco, serif; + line-height:1.3; + font-weight: normal; +} + +h1,h2, h3 { + display: block; + border-bottom: 1px solid #ccc; + padding-bottom: 5px; +} + +h1 { + font-size: 30px; +} + +h2 { + font-size: 24px; +} + +h3 { + font-size: 18px; +} + +h4, h5, h6 { + font-family: Arvo, Monaco, serif; + font-weight: 700; +} + +a { + color:#C30000; + font-weight:200; + text-decoration:none; +} + +a:hover { + text-decoration: underline; +} + +a small { + font-size: 12px; +} + +em { + font-style: italic; +} + +strong { + font-weight:700; +} + +ul { + list-style-position: inside; + list-style: disc; + padding-left: 25px; +} + +ol { + list-style-position: inside; + list-style: decimal; + padding-left: 25px; +} + +blockquote { + margin: 0; + padding: 0 0 0 20px; + font-style: italic; +} + +dl, dt, dd, dl p { + color: #444; +} + +dl dt { + font-weight: bold; +} + +dl dd { + padding-left: 20px; + font-style: italic; +} + +dl p { + padding-left: 20px; + font-style: italic; +} + +hr { + border:0; + background:#ccc; + height:1px; + margin:0 0 24px; +} + +/* Images */ + +img { + position: relative; + margin: 0 auto; + max-width: 650px; + padding: 5px; + margin: 10px 0 32px 0; + border: 1px solid #ccc; +} + +p img, .emoji { + display: inline; + margin: 0; + padding: 0; + vertical-align: middle; + text-align: center; + border: none; +} + +/* Code blocks */ + +code, pre { + font-family: Monaco, "Bitstream Vera Sans Mono", "Lucida Console", Terminal, monospace; + color:#000; + font-size:14px; +} + +pre { + padding: 4px 12px; + background: #FDFEFB; + border-radius:4px; + border:1px solid #D7D8C8; + overflow: auto; + overflow-y: hidden; + margin-bottom: 32px; +} + + +/* Tables */ + +table { + width:100%; +} + +table { + border: 1px solid #ccc; + margin-bottom: 32px; + text-align: left; + } + +th { + font-family: 'Arvo', Helvetica, Arial, sans-serif; + font-size: 18px; + font-weight: normal; + padding: 10px; + background: #232323; + color: #FDFEFB; + } + +td { + padding: 10px; + background: #ccc; + } + + +/* Wrapper */ +.wrapper { + width:960px; +} + + +/* Header */ + +header { + background-color: #171717; + color: #FDFDFB; + width:170px; + float:left; + position:fixed; + border: 1px solid #000; + -webkit-border-top-right-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -moz-border-radius-topright: 4px; + -moz-border-radius-bottomright: 4px; + border-top-right-radius: 4px; + border-bottom-right-radius: 4px; + padding: 34px 25px 22px 50px; + margin: 30px 25px 0 0; + -webkit-font-smoothing: antialiased; +} + +p.header { + font-size: 16px; +} + +h1.header { + font-family: Arvo, sans-serif; + font-size: 30px; + font-weight: 300; + line-height: 1.3em; + border-bottom: none; + margin-top: 0; +} + + +h1.header, a.header, a.name, header a{ + color: #fff; +} + +a.header { + text-decoration: underline; +} + +a.name { + white-space: nowrap; +} + +header ul { + list-style:none; + padding:0; +} + +header li { + list-style-type: none; + width:132px; + height:15px; + margin-bottom: 12px; + line-height: 1em; + padding: 6px 6px 6px 7px; + + background: #AF0011; + background: -moz-linear-gradient(top, #AF0011 0%, #820011 100%); + background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#f8f8f8), color-stop(100%,#dddddd)); + background: -webkit-linear-gradient(top, #AF0011 0%,#820011 100%); + background: -o-linear-gradient(top, #AF0011 0%,#820011 100%); + background: -ms-linear-gradient(top, #AF0011 0%,#820011 100%); + background: linear-gradient(to top, #AF0011 0%,#820011 100%); + + border-radius:4px; + border:1px solid #0D0D0D; + + -webkit-box-shadow: inset 0px 1px 1px 0 rgba(233,2,38, 1); + box-shadow: inset 0px 1px 1px 0 rgba(233,2,38, 1); + +} + +header li:hover { + background: #C3001D; + background: -moz-linear-gradient(top, #C3001D 0%, #950119 100%); + background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#f8f8f8), color-stop(100%,#dddddd)); + background: -webkit-linear-gradient(top, #C3001D 0%,#950119 100%); + background: -o-linear-gradient(top, #C3001D 0%,#950119 100%); + background: -ms-linear-gradient(top, #C3001D 0%,#950119 100%); + background: linear-gradient(to top, #C3001D 0%,#950119 100%); +} + +a.buttons { + -webkit-font-smoothing: antialiased; + background: url(../images/arrow-down.png) no-repeat; + font-weight: normal; + text-shadow: rgba(0, 0, 0, 0.4) 0 -1px 0; + padding: 2px 2px 2px 22px; + height: 30px; +} + +a.github { + background: url(../images/octocat-small.png) no-repeat 1px; +} + +a.pdf { + background: url(../images/pdf.png) no-repeat 1px; + padding: 2px 2px 2px 25px; +} +a.codalab { + background: url(../images/metrics.png) no-repeat 1px; + padding: 2px 2px 2px 25px; +} + + +a.buttons:hover { + color: #fff; + text-decoration: none; +} + + +/* Section - for main page content */ + +section { + width:650px; + float:right; + padding-bottom:50px; +} + + +/* Footer */ + +footer { + width:170px; + float:left; + position:fixed; + bottom:10px; + padding-left: 50px; +} + +@media print, screen and (max-width: 960px) { + + div.wrapper { + width:auto; + margin:0; + } + + header, section, footer { + float:none; + position:static; + width:auto; + } + + footer { + border-top: 1px solid #ccc; + margin:0 84px 0 50px; + padding:0; + } + + header { + padding-right:320px; + } + + section { + padding:20px 84px 20px 50px; + margin:0 0 20px; + } + + header a small { + display:inline; + } + + header ul { + position:absolute; + right:130px; + top:84px; + } +} + +@media print, screen and (max-width: 720px) { + body { + word-wrap:break-word; + } + + header { + padding:10px 20px 0; + margin-right: 0; + } + + section { + padding:10px 0 10px 20px; + margin:0 0 30px; + } + + footer { + margin: 0 0 0 30px; + } + + header ul, header p.view { + position:static; + } +} + +@media print, screen and (max-width: 480px) { + + header ul li.download { + display:none; + } + + footer { + margin: 0 0 0 20px; + } + + footer a{ + display:block; + } + +} + +@media print { + body { + padding:0.4in; + font-size:12pt; + color:#444; + } +} diff --git a/assets/css/style.scss b/assets/css/style.scss new file mode 100644 index 0000000..9f0f116 --- /dev/null +++ b/assets/css/style.scss @@ -0,0 +1,4 @@ +--- +--- + +@import "jekyll-theme-dinky"; diff --git a/assets/images/metrics.png b/assets/images/metrics.png new file mode 100644 index 0000000..850f273 Binary files /dev/null and b/assets/images/metrics.png differ diff --git a/assets/images/pdf.png b/assets/images/pdf.png new file mode 100644 index 0000000..295604e Binary files /dev/null and b/assets/images/pdf.png differ diff --git a/index.md b/index.md new file mode 100644 index 0000000..3740d24 --- /dev/null +++ b/index.md @@ -0,0 +1,4 @@ +## A Multimodal Handover Failure Detection Dataset and Baselines +Santosh Thoduka, Nico Hochgeschwender, Juergen Gall and Paul G. Plöger + +**Abstract**: An object handover between a robot and a human is a coordinated action which is prone to failure for reasons such as miscommunication, incorrect actions and unexpected object properties. Existing works on handover failure detection and prevention focus on preventing failures due to object slip or external disturbances. However, there is a lack of datasets and evaluation methods that consider unpreventable failures caused by the human participant. To address this deficit, we present the multimodal Handover Failure Detection dataset, which consists of failures induced by the human participant, such as ignoring the robot or not releasing the object. We also present two baseline methods for handover failure detection: (i) a video classification method using 3D CNNs and (ii) a temporal action segmentation approach which jointly classifies the human action, robot action and overall outcome of the action. The results show that video is an important modality, but using force-torque data and gripper position help improve failure detection and action segmentation accuracy.