Survey of Design Paradigms for Social Robots

The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and gestures to enhance user engagement and emotional support. The understanding of design paradigms of social robots is obstructed by the complexity of the system and the necessity to tune it to a specific task. This article provides a structured review of social robot design paradigms, categorizing them into cognitive architectures, role design models, linguistic models, communication flow, activity system models, and integrated design models. By breaking down the articles on social robot design and application based on these paradigms, we highlight the strengths and areas for improvement in current approaches. We further propose our original integrated design model that combines the most important aspects of the design of social robots. Our approach shows the importance of integrating operational, communicational, and emotional dimensions to create more adaptive and empathetic interactions between robots and humans.

OAT: Object-Level Attention Transformer for Gaze Scanpath Prediction

Visual search is important in our daily life. The efficient allocation of visual attention is critical to effectively complete visual search tasks. Prior research has predominantly modelled the spatial allocation of visual attention in images at the pixel level, e.g. using a saliency map. However, emerging evidence shows that visual attention is guided by objects rather than pixel intensities. This paper introduces the Object-level Attention Transformer (OAT), which predicts human scanpaths as they search for a target object within a cluttered scene of distractors. OAT uses an encoder-decoder architecture. The encoder captures information about the position and appearance of the objects within an image and about the target. The decoder predicts the gaze scanpath as a sequence of object fixations, by integrating output features from both the encoder and decoder. We also propose a new positional encoding that better reflects spatial relationships between objects. We evaluated OAT on the Amazon book cover dataset and a new dataset for visual search that we collected. OAT's predicted gaze scanpaths align more closely with human gaze patterns, compared to predictions by algorithms based on spatial attention on both established metrics and a novel behavioural-based metric. Our results demonstrate the generalization ability of OAT, as it accurately predicts human scanpaths for unseen layouts and target objects.

HIC-YOLOv5: Improved YOLOv5 For Small Object Detection

Small object detection has been a challenging problem in the field of object detection. There has been some works that proposes improvements for this task, such as adding several attention blocks or changing the whole structure of feature fusion networks. However, the computation cost of these models is large, which makes deploying a real-time object detection system unfeasible, while leaving room for improvement. To this end, an improved YOLOv5 model: HIC-YOLOv5 is proposed to address the aforementioned problems. Firstly, an additional prediction head specific to small objects is added to provide a higher-resolution feature map for better prediction. Secondly, an involution block is adopted between the backbone and neck to increase channel information of the feature map. Moreover, an attention mechanism named CBAM is applied at the end of the backbone, thus not only decreasing the computation cost compared with previous works but also emphasizing the important information in both channel and spatial domain. Our result shows that HIC-YOLOv5 has improved mAP@[.5:.95] by 6.42% and mAP@0.5 by 9.38% on VisDrone-2019-DET dataset.

RMES: Real-Time Micro-Expression Spotting Using Phase From Riesz Pyramid

Micro-expressions (MEs) are involuntary and subtle facial expressions that are thought to reveal feelings people are trying to hide. ME spotting detects the temporal intervals containing MEs in videos. Detecting such quick and subtle motions from long videos is difficult. Recent works leverage detailed facial motion representations, such as the optical flow, and deep learning models, leading to high computational complexity. To reduce computational complexity and achieve real-time operation, we propose RMES, a real-time ME spotting framework. We represent motion using phase computed by Riesz Pyramid, and feed this motion representation into a three-stream shallow CNN, which predicts the likelihood of each frame belonging to an ME. In comparison to optical flow, phase provides more localized motion estimates, which are essential for ME spotting, resulting in higher performance. Using phase also reduces the required computation of the ME spotting pipeline by 77.8%. Despite its relative simplicity and low computational complexity, our framework achieves state-of-the-art performance on two public datasets: CAS(ME)2 and SAMM Long Videos.

Integrating Holistic and Local Information to Estimate Emotional Reaction Intensity

Video-based Emotional Reaction Intensity (ERI) estimation measures the intensity of subjects' reactions to stimuli along several emotional dimensions from videos of the subject as they view the stimuli. We propose a multi-modal architecture for video-based ERI combining video and audio information. Video input is encoded spatially first, frame-by-frame, combining features encoding holistic aspects of the subjects' facial expressions and features encoding spatially localized aspects of their expressions. Input is then combined across time: from frame-to-frame using gated recurrent units (GRUs), then globally by a transformer. We handle variable video length with a regression token that accumulates information from all frames into a fixed-dimensional vector independent of video length. Audio information is handled similarly: spectral information extracted within each frame is integrated across time by a cascade of GRUs and a transformer with regression token. The video and audio regression tokens' outputs are merged by concatenation, then input to a final fully connected layer producing intensity estimates. Our architecture achieved excellent performance on the Hume-Reaction dataset in the ERI Esimation Challenge of the Fifth Competition on Affective Behavior Analysis in-the-Wild (ABAW5). The Pearson Correlation Coefficients between estimated and subject self-reported scores, averaged across all emotions, were 0.455 on the validation dataset and 0.4547 on the test dataset, well above the baselines. The transformer's self-attention mechanism enables our architecture to focus on the most critical video frames regardless of length. Ablation experiments establish the advantages of combining holistic/local features and of multi-modal integration. Code available at https://github.com/HKUST-NISL/ABAW5.