A Multimodal Handover Failure Detection Dataset and Baselines

arXiv:2402.18319v1 Announce Type: cross
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 …

abstract arxiv cs.cv cs.ro dataset detection failure focus human multimodal prevention robot type