GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages

Miguel Altamirano Cabrera; Aleksey Fedoseev; Iana Zhura; Dzmitry Tsetserukou

GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages

Robotics 2026-08-01 v1

Authors: Miguel Altamirano Cabrera , Aleksey Fedoseev , Iana Zhura , Dzmitry Tsetserukou

Abstract

We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch generation, and robotic drawing. The system captures video frames, extracts facial regions, converts them into minimalist single-line sketches using the Gemini Vision API, optimizes stroke order through graph-based path planning, and executes smooth trajectories on a 6-DoF collaborative manipulator. This perception-cognition-action pipeline integrates computer vision, neural artistic abstraction, motion optimization, and robot control. User ratings on a 5-point scale were high for sketch quality 4.33, perceived execution 4.53, and user experience 4.65, indicating recognizable, appealing, and engaging robotic portraits.

Keywords

robotic portrait generation face detection sketch generation graph-based path planning 6-DoF manipulator computer vision neural artistic abstraction

Cite

@article{arxiv.2608.00829,
  title  = {GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages},
  author = {Miguel Altamirano Cabrera and Aleksey Fedoseev and Iana Zhura and Dzmitry Tsetserukou},
  journal= {arXiv preprint arXiv:2608.00829},
  year   = {2026}
}