Typically, human gaze movements are influenced by the effect of head movements i.e., the relationship

Typically, human gaze movements are influenced by the effect of head movements i.e., the relationship

The evolution towards future generation of mobile systems and fixed wireless networks is primarily driven by the urgency to support high-bandwidth and low-latency services across various vertical sectors. This endeavor is fueled by smartphones as well as technologies like industrial internet of things, extended reality (XR), and human-to-machine (H2M) collaborations for fostering industrial and social revolutions like Industry 4.0/5.0 and Society 5.0. To ensure an ideal immersive experience and avoid cyber-sickness for users in all the aforementioned usage scenarios, it is typically challenging to synchronize XR content from a remote machine to a human collaborator according to their head movements across a large geographic span in real-time over communication networks. Thus, we propose a novel H2M collaboration scheme where the human's head movements are predicted ahead with highly accurate models like bidirectional long short-term memory networks to orient the machine's camera in advance. We validate that XR frame size varies in accordance with the human's head movements and predict the corresponding bandwidth requirements from the machine's camera to propose a human-machine coordinated dynamic bandwidth allocation (HMC-DBA) scheme. Through extensive simulations, we show that end-to-end latency and jitter requirements of XR frames are satisfied with much lower bandwidth consumption over enterprise networks like Fiber-To-The-Room-Business. Furthermore, we show that better efficiency in network resource utilization is achieved by employing our proposed HMC-DBA over state-of-the-art schemes.

ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the hardware side, ViA employs a simple yet effective 6-DoF robotic neck to enable flexible, human-like head movements. To capture human active perception strategies, we design a VR-based teleoperation interface that creates a shared observation space between the robot and the human operator. To mitigate VR motion sickness caused by latency in the robot's physical movements, the interface uses an intermediate 3D scene representation, enabling real-time view rendering on the operator side while asynchronously updating the scene with the robot's latest observations. Together, these design elements enable the learning of robust visuomotor policies for three complex, multi-stage bimanual manipulation tasks involving visual occlusions, significantly outperforming baseline systems.

Abstract--Depression is a debilitating mood disorder negatively impacting millions worldwide. While researchers have explored multiple verbal and non-verbal behavioural cues for automated depression assessment, head motion has received little attention thus far. Further, the common practice of validating machine learning models via a single dataset can limit model generalisability . This work examines the effectiveness and generalisability of models utilising elementary head motion units, termed kinemes, for depression severity estimation. Specifically, we consider three depression datasets from different western cultures (German: AVEC2013, Australian: Blackdog and American: Pitt datasets) with varied contextual and recording settings to investigate the generalisability of the derived kineme patterns via two methods: (i) k-fold cross-validation over individual/multiple datasets, and (ii) model reuse on other datasets. Evaluating classification and regression performance with classical machine learning methods, our results show that: (1) head motion patterns are efficient biomarkers for estimating depression severity, achieving highly competitive performance for both classification and regression tasks on a variety of datasets, including achieving the second best Mean Absolute Error (MAE) on the AVEC2013 dataset, and (2) kineme-based features are more generalisable than (a) raw head motion descriptors for binary severity classification, and (b) other visual behavioural cues for severity estimation (regression).

Traditional brain-computer interfaces (BCIs), reliant on costly electroencephalography or invasive implants, struggle with complex human-computer interactions due to setup complexity and limited precision. We present NeuGaze, a novel webcam-based system that leverages eye gaze, head movements, and facial expressions to enable intuitive, real-time control using only a standard 30 Hz webcam, often pre-installed in laptops. Requiring minimal calibration, NeuGaze achieves performance comparable to conventional inputs, supporting precise cursor navigation, key triggering via an efficient skill wheel, and dynamic gaming interactions, such as defeating formidable opponents in first-person games. By harnessing preserved neck-up functionalities in motor-impaired individuals, NeuGaze eliminates the need for specialized hardware, offering a low-cost, accessible alternative to BCIs. This paradigm empowers diverse applications, from assistive technology to entertainment, redefining human-computer interaction for motor-impaired users. Project is at \href{https://github.com/NeuSpeech/NeuGaze}{github.com/NeuSpeech/NeuGaze}.

We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive and comprehensive view of the environment, improving task performance, reducing cognitive load, and facilitating complex whole-body manipulation. We demonstrate the benefits of natural perception across seven challenging teleoperation tasks, showing how the actuated neck enhances the scope and efficiency of remote operation. Furthermore, we investigate its role in training autonomous policies through imitation learning. In three distinct tasks, the actuated neck supports better spatial awareness, reduces distribution shift, and enables adaptive task-specific adjustments compared to a static wide-angle camera.

End-effector based assistive robots face persistent challenges in generating smooth and robust trajectories when controlled by human's noisy and unreliable biosignals such as muscle activities and brainwaves. The produced endpoint trajectories are often jerky and imprecise to perform complex tasks such as stable robotic grasping. We propose STREAMS (Self-Training Robotic End-to-end Adaptive Multimodal Shared autonomy) as a novel framework leveraged deep reinforcement learning to tackle this challenge in biosignal based robotic control systems. STREAMS blends environmental information and synthetic user input into a Deep Q Learning Network (DQN) pipeline for an interactive end-to-end and self-training mechanism to produce smooth trajectories for the control of end-effector based robots. The proposed framework achieved a high-performance record of 98% in simulation with dynamic target estimation and acquisition without any pre-existing datasets. As a zero-shot sim-to-real user study with five participants controlling a physical robotic arm with noisy head movements, STREAMS (as an assistive mode) demonstrated significant improvements in trajectory stabilization, user satisfaction, and task performance reported as a success rate of 83% compared to manual mode which was 44% without any task support. STREAMS seeks to improve biosignal based assistive robotic controls by offering an interactive, end-to-end solution that stabilizes end-effector trajectories, enhancing task performance and accuracy.

One of the major challenges in the science of maxillofacial radiology imaging is the various artifacts created in images taken by cone beam computed tomography (CBCT) imaging systems. Among these artifacts, motion artifact, which is created by the patient, has adverse effects on image quality. In this paper, according to the conditions and limitations of the CBCT imaging room, the goal is the design and development of a cable-driven parallel robot to create repeatable movements of a dry skull inside a CBCT scanner for studying motion artifacts and building up reference datasets with motion artifacts. The proposed robot allows a dry skull to execute motions, which were selected on the basis of clinical evidence, with 3-degrees of freedom during imaging in synchronous manner with the radiation beam. The kinematic model of the robot is presented to investigate and describe the correlation between the amount of motion and the pulse width applied to DC motors. This robot can be controlled by the user through a smartphone or laptop wirelessly via a Wi-Fi connection. Using wireless communication protects the user from harmful radiation during robot driving and functioning. The results show that the designed robot has a reproducibility above 95% in performing various movements.

Head movements are crucial for social human-human interaction. They can transmit important cues (e.g., joint attention, speaker detection) that cannot be achieved with verbal interaction alone. This advantage also holds for human-robot interaction. Even though modeling human motions through generative AI models has become an active research area within robotics in recent years, the use of these methods for producing head movements in human-robot interaction remains underexplored. In this work, we employed a generative AI pipeline to produce human-like head movements for a Nao humanoid robot. In addition, we tested the system on a real-time active-speaker tracking task in a group conversation setting. Overall, the results show that the Nao robot successfully imitates human head movements in a natural manner while actively tracking the speakers during the conversation. Code and data from this study are available at https://github.com/dingdingding60/Humanoids2024HRI