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The facial expression generation capability of humanoid social robots is critical for achieving natural and human-like interactions, playing a vital role in enhancing the fluidity of human-robot interactions and the accuracy of emotional…

Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expressions poses significant challenges due to the complexities…

Accurate facial expression imitation on human-face robots is crucial for achieving natural human-robot interaction. Most existing methods have achieved photorealistic expression imitation through mapping 2D facial landmarks to a robot's…

Facial expressions are an ideal means of communicating one's emotions or intentions to others. This overview will focus on human facial expression recognition as well as robotic facial expression generation. In the case of human facial…

The ability to display rich facial expressions is crucial for human-like robotic heads. While manually defining such expressions is intricate, there already exist approaches to automatically learn them. In this work one such approach is…

This paper presents an anthropomorphic robotic bear for the exploration of human-robot interaction including verbal and non-verbal communications. This robot is implemented with a hybrid face composed of a mechanical faceplate with 10 DOFs…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Given a large number of unlabeled face images, face grouping aims at clustering the images into individual identities present in the data. This task remains a challenging problem despite the remarkable capability of deep learning approaches…

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Facial expressions are vital in human communication and significantly influence outcomes in human-robot interaction (HRI), such as likeability, trust, and companionship. However, current methods for generating robotic facial expressions are…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

This article proposes an emotive lifelike robotic face, called ExpressionBot, that is designed to support verbal and non-verbal communication between the robot and humans, with the goal of closely modeling the dynamics of natural…

This paper presents a generic face animator that is able to control the pose and expressions of a given face image. The animation is driven by human interpretable control signals consisting of head pose angles and the Action Unit (AU)…

Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human data is a key research challenge with significant implications for robotics and real-world applications. However, existing methodologies and…

Nowadays, it is possible to scan faces and automatically register them with high quality. However, the resulting face meshes often need further processing: we need to stabilize them to remove unwanted head movement. Stabilization is…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…