This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle data from human demonstrations. This is achieved by learning and modulating the overall expression characteristics of the gesture (e.g., arm posture, waving frequency and amplitude) in the frequency domain. The method was evaluated on simulated robot experiments involving a robot with a manipulator of 6 degrees of freedom. The results show that the method provides efficient encoding and modulation of rhythmic movements and ensures variability in their execution.
WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots
University of Engineering and Technology, Vietnam National University（越南国立大学工程与技术大学）；School of Information Science, Japan Advanced Institute of Science and Technology（日本先端科学技术大学院大学信息科学学院）；School of Electronics and Computer Science, University of Southampton（南安普顿大学电子与计算机科学学院）；Department of Robotics, Hanyang University（汉阳大学机器人学系）
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for human-robot interaction. Next, an online user study with 190 participants was performed to investigate if there was an agreed set of gestures that people intuitively use to communicate the given commands to robots when no guidance or training were given. As we found large variations among the gestures exist between participants, we then proposed a set of gestures for …
University of Basque Country (UPV/EHU)（巴斯克大学（UPV/EHU））
Social robot capabilities, such as talking gestures, are best produced using data driven approaches to avoid being repetitive and to show trustworthiness. However, there is a lack of robust quantitative methods that allow to compare such methods beyond visual evaluation. In this paper a quantitative analysis is performed that compares two Generative Adversarial Networks based gesture generation approaches. The aim is to measure characteristics such as fidelity to the original training data, but at the same time keep track of the degree of originality of the produced gestures. Principal Coordin…
How do Foundation Models Compare to Skeleton-Based Approaches for Gesture Recognition in Human-Robot Interaction?
Chair for Computer Vision, RWTH Aachen University（计算机视觉教研室，亚琛RWTH大学）；Robert Bosch GmbH, Corporate Research & Bosch Center for AI（博世公司，博世企业研究院及博世人工智能中心）
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction
University of Engineering and Technology, Vietnam National University, Hanoi（越南国家大学河内工程技术大学）；School of Information Science, Japan Advanced Institute of Science and Technology（日本先进科学技术学院信息科学学院）
Towards Senior-Robot Interaction: Reactive Robot Dog Gestures
School of Computer Science and Engineering, UNSW Sydney, Australia（计算机科学与工程学院，新南威尔士大学悉尼分校）；School of Art and Design, Creative Robotics Lab, UNSW Sydney, Australia（艺术与设计学院，创意机器人实验室，新南威尔士大学悉尼分校）；School of Design, University of Waikato, New Zealand（设计学院，怀卡托大学，新西兰）；University of Sydney, Australia（悉尼大学，澳大利亚）；Escuela de Ingeniería, Universidad Central de Chile, Santiago, Chile（工程学院，智利中央大学，圣地亚哥）
Humboldt University of Berlin（柏林洪堡大学）；University of Potsdam（波茨坦大学）；HTW Berlin - University of Applied Sciences（柏林应用科学技术大学）
Humanoid robots are increasingly being integrated into learning contexts to assist teaching and learning. However, challenges remain how to design and incorporate such robots in an educational context. As an important part of teaching includes monitoring the motivational and emotional state of the learner and adapting the interaction style and learning content accordingly, in this paper, we discuss the role of gestures displayed by a humanoid robot (i.e., Pepper robot) in a learning and teaching context and present our ongoing research on designing and developing a teacher robot.
Exploring persuasive interactions with generative social robots: An experimental framework
ZHAW Zurich University of Applied Sciences（ZHAW苏黎世应用科学大学）；FHNW University of Applied Sciences and Arts Northwestern Switzerland（FHNW瑞士西北应用科学与艺术大学）；Bielefeld University（比勒费尔德大学）
A Gesture-Based Visual Learning Model for Acoustophoretic Interactions using a Swarm of AcoustoBots
Department of Computer Science University College London London United Kingdom（计算机科学系伦敦大学学院伦敦英国）；Department of Artificial Intelligence University of Malaya Kuala Lumpur Malaysia（人工智能系马来大学吉隆坡马来西亚）；University College London（伦敦大学学院）；University of Malaya（马来大学）
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
BAAI（北京人工智能研究院）；University of Sydney（悉尼大学）；Harbin Institute of Technology（哈尔滨工业大学）；Hong Kong University of Science and Technology（香港科学与技术大学）；Shanghai Jiao Tong University（上海交通大学）；Peking University（北京大学）
Legible and Intuitive Multi-modal Robot State and Intent Communication Validated in Online and Real-world Studies
Chair of Perception for Intelligent Systems, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM)（慕尼黑工业大学慕尼黑机器人与机器智能研究所智能系统感知教席）；Centre for Applied Autonomous Sensor Systems (AASS), Örebro University（厄勒布鲁大学应用自主传感器系统中心）；Robotics Institute Germany (RIG)（德国机器人研究所）
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
Mondo Robotics；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；The Hong Kong University of Science and Technology（香港科技大学）；Artificial General Intelligence Institute, University of Science and Technology of China（中国科学技术大学通用人工智能研究院）
Data-Centric Neuromotor Interfaces for Portable Human-Machine Interaction
Dalian University of Technology（大连理工大学）；The University of Tokyo（东京大学）；Dalian Medical University（大连医科大学）；Second Affiliated Hospital of Dalian Medical University（大连医科大学附属第二医院）
InterAct: A Large-Scale Dataset of Dynamic, Expressive and Interactive Activities between Two People in Daily Scenarios
The University of Hong Kong（香港大学）；Centre for Transformative Garment Production（转型服装生产中心）；Great Bay University（大湾大学）；Dongguan Key Laboratory for Intelligence and Information Technology（东莞智能与信息科技重点实验室）；Shandong University（山东大学）；National Institute of Informatics（国家信息研究所）
