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Constraint-aware expressive behavior design for social robotics.
Project Overview:
This work explores how micro-movements and timing variations can communicate internal cognitive states while remaining aligned with hardware constraints and real-time execution environments.
Sophia - Expressive Robotic Motion Systems
Sophia - Expressive Robotic Motion Systems
Constraint-aware expressive behavior design for social robotics.
Project Overview:
This work explores how micro-movements and timing variations can communicate internal cognitive states while remaining aligned with hardware constraints and real-time execution environments.
Expressive Processing States
Reactive Emotional ResponsesRapid Aversion Reflex
Reactive Emotional Responses
Layered Rejection Response
Cognitive Processing States
Evaluative Micro-Acknowledgment
Cognitive Processing States
Reflective Consideration State
Physiological State Transitions
Low-Energy Idle Drift
Physiological State Transitions
Activation Recovery Transition
Motion Stability & Constraint Correction
Refining motion capture data for actuator-safe robotic execution.
Refining motion capture data for actuator-safe robotic execution.
Raw motion capture streams frequently introduce signal noise, rotational discontinuities, and actuator-incompatible joint ranges.
This refinement study focuses on:
• Stabilizing micro-jitter
• Resolving joint flipping
• Recalibrating rotation hierarchies
• Aligning motion output with hardware-safe execution thresholds
The resulting data ensures kinematic continuity and downstream deployment readiness.
AI-driven Facial Prototyping
Rapid behavior iteration within virtual simulation environments prior to physical deployment.
Overview:
This exploration investigates AI-assisted facial animation workflows using NVIDIA Omniverse and Audio2Face to accelerate expressive behavior prototyping in a robotics pipeline.
This exploration investigates AI-assisted facial animation workflows using NVIDIA Omniverse and Audio2Face to accelerate expressive behavior prototyping in a robotics pipeline.
Core Focus:
Audio-to-Facial Mapping
Neural audio encoders and blendshape solvers translating speech signals into controllable facial parameters.
USD Iterative Workflow
Layer-based scene composition and non-destructive variant switching within Omniverse’s USD ecosystem.
Deployment Readiness Assessment
Evaluated motion stability, expressivity control, and actuator-safe behavior prior to hardware testing.
Immersive Virtual Environment Integration
AI-generated virtual environments composed with alpha-channel facial animation to prototype meditative interaction contexts.
Overview:
Generated ambient therapeutic environments (bamboo forest, interior meditation space) using generative video tools and composited with facial animation outputs to simulate guided meditation sessions.
Audio-to-Facial Mapping
Neural audio encoders and blendshape solvers translating speech signals into controllable facial parameters.
USD Iterative Workflow
Layer-based scene composition and non-destructive variant switching within Omniverse’s USD ecosystem.
Deployment Readiness Assessment
Evaluated motion stability, expressivity control, and actuator-safe behavior prior to hardware testing.
Immersive Virtual Environment Integration
AI-generated virtual environments composed with alpha-channel facial animation to prototype meditative interaction contexts.
Overview:
Generated ambient therapeutic environments (bamboo forest, interior meditation space) using generative video tools and composited with facial animation outputs to simulate guided meditation sessions.
Core Components：
Generative Environment Prototyping
Rapid atmospheric scene generation for behavioral context testing.
AI-Assisted Sound Design
Procedurally composed ambient soundscapes aligned with emotional pacing.
Alpha-based Compositing Pipeline
Integrated transparent facial animation renders into dynamic audiovisual environments.
Emotion-Scene Synchronization
Matched visual rhythm, lighting tone, and audio cadence with facial expressivity.
Public Activation
Live exhibition contexts, validating expressive clarity and audience perception in real-world settings.
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Generative Environment Prototyping
Rapid atmospheric scene generation for behavioral context testing.
AI-Assisted Sound Design
Procedurally composed ambient soundscapes aligned with emotional pacing.
Alpha-based Compositing Pipeline
Integrated transparent facial animation renders into dynamic audiovisual environments.
Emotion-Scene Synchronization
Matched visual rhythm, lighting tone, and audio cadence with facial expressivity.
Public Activation
Live exhibition contexts, validating expressive clarity and audience perception in real-world settings.
