Hybrid Attention Estimation Pipeline for Adaptive HRI Using an Expressive Robotic Head
This paper presents an applied case study on hybrid visual attention estimation for human-robot interaction using an expressive robotic head based on the InMoov ecosystem. The proposed pipeline combines a fast geometric perception layer with an independent semantic perception layer based on a vision-language model. The geometric layer provides high-frequency face and head-pose information for temporal regulation, while the semantic layer receives only raw egocentric camera frames and produces contextual attention labels related to attention toward the robot, phone use, or attention elsewhere. These signals are integrated through a finite state machine that regulates adaptive interaction b...
| Authors | Pablo Moraes, Monica Rodriguez, Christopher Peters et al. |
|---|---|
| Primary category | cs.RO |
| Published | 31 July 2026 |
| Last updated at source | 31 July 2026 |
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