Touch Speaks, Sound Feels: A Multimodal Approach to Affective and Social Touch from Robots to Humans

Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the physical sensation of touch but also register the accompanying auditory cues generated through contact. The integration of haptic and auditory information forms a rich and nuanced channel for emotional expression. While extensive research has examined how robots convey emotions through facial expressions and speech, their capacity to communicate social gestures and emotions via touch remains largely underexplored. To address this gap, we developed a multimodal interaction system incorporating a 5*5 grid of 25 vibration motors synchronized with audio playback, enabling robots to deliver combined haptic-audio stimuli. In an experiment involving 32 Chinese participants, ten emotions and six social gestures were presented through vibration, sound, or their combination. Participants rated each stimulus on arousal and valence scales. The results revealed that (1) the combined haptic-audio modality significantly enhanced decoding accuracy compared to single modalities; (2) each individual channel-vibration or sound-effectively supported certain emotions recognition, with distinct advantages depending on the emotional expression; and (3) gestures alone were generally insufficient for conveying clearly distinguishable emotions. These findings underscore the importance of multisensory integration in affective human-robot interaction and highlight the complementary roles of haptic and auditory cues in enhancing emotional communication.

Using Vision Language Models to Detect Students' Academic Emotion through Facial Expressions

Students' academic emotions significantly influence their social behavior and learning performance. Traditional approaches to automatically and accurately analyze these emotions have predominantly relied on supervised machine learning algorithms. However, these models often struggle to generalize across different contexts, necessitating repeated cycles of data collection, annotation, and training. The emergence of Vision-Language Models (VLMs) offers a promising alternative, enabling generalization across visual recognition tasks through zero-shot prompting without requiring fine-tuning. This study investigates the potential of VLMs to analyze students' academic emotions via facial expressions in an online learning environment. We employed two VLMs, Llama-3.2-11B-Vision-Instruct and Qwen2.5-VL-7B-Instruct, to analyze 5,000 images depicting confused, distracted, happy, neutral, and tired expressions using zero-shot prompting. Preliminary results indicate that both models demonstrate moderate performance in academic facial expression recognition, with Qwen2.5-VL-7B-Instruct outperforming Llama-3.2-11B-Vision-Instruct. Notably, both models excel in identifying students' happy emotions but fail to detect distracted behavior. Additionally, Qwen2.5-VL-7B-Instruct exhibits relatively high performance in recognizing students' confused expressions, highlighting its potential for practical applications in identifying content that causes student confusion.

Attributes Shape the Embedding Space of Face Recognition Models

Face Recognition (FR) tasks have made significant progress with the advent of Deep Neural Networks, particularly through margin-based triplet losses that embed facial images into high-dimensional feature spaces. During training, these contrastive losses focus exclusively on identity information as labels. However, we observe a multiscale geometric structure emerging in the embedding space, influenced by interpretable facial (e.g., hair color) and image attributes (e.g., contrast). We propose a geometric approach to describe the dependence or invariance of FR models to these attributes and introduce a physics-inspired alignment metric. We evaluate the proposed metric on controlled, simplified models and widely used FR models fine-tuned with synthetic data for targeted attribute augmentation. Our findings reveal that the models exhibit varying degrees of invariance across different attributes, providing insight into their strengths and weaknesses and enabling deeper interpretability. Code available here: https://github.com/mantonios107/attrs-fr-embs}{https://github.com/mantonios107/attrs-fr-embs

ExpertGen: Training-Free Expert Guidance for Controllable Text-to-Face Generation

Recent advances in diffusion models have significantly improved text-to-face generation, but achieving fine-grained control over facial features remains a challenge. Existing methods often require training additional modules to handle specific controls such as identity, attributes, or age, making them inflexible and resource-intensive. We propose ExpertGen, a training-free framework that leverages pre-trained expert models such as face recognition, facial attribute recognition, and age estimation networks to guide generation with fine control. Our approach uses a latent consistency model to ensure realistic and in-distribution predictions at each diffusion step, enabling accurate guidance signals to effectively steer the diffusion process. We show qualitatively and quantitatively that expert models can guide the generation process with high precision, and multiple experts can collaborate to enable simultaneous control over diverse facial aspects. By allowing direct integration of off-the-shelf expert models, our method transforms any such model into a plug-and-play component for controllable face generation.

Inverting Black-Box Face Recognition Systems via Zero-Order Optimization in Eigenface Space

Reconstructing facial images from black-box recognition models poses a significant privacy threat. While many methods require access to embeddings, we address the more challenging scenario of model inversion using only similarity scores. This paper introduces DarkerBB, a novel approach that reconstructs color faces by performing zero-order optimization within a PCA-derived eigenface space. Despite this highly limited information, experiments on LFW, AgeDB-30, and CFP-FP benchmarks demonstrate that DarkerBB achieves state-of-the-art verification accuracies in the similarity-only setting, with competitive query efficiency.

OPEN: A Benchmark Dataset and Baseline for Older Adult Patient Engagement Recognition in Virtual Rehabilitation Learning Environments

Engagement in virtual learning is essential for participant satisfaction, performance, and adherence, particularly in online education and virtual rehabilitation, where interactive communication plays a key role. Yet, accurately measuring engagement in virtual group settings remains a challenge. There is increasing interest in using artificial intelligence (AI) for large-scale, real-world, automated engagement recognition. While engagement has been widely studied in younger academic populations, research and datasets focused on older adults in virtual and telehealth learning settings remain limited. Existing methods often neglect contextual relevance and the longitudinal nature of engagement across sessions. This paper introduces OPEN (Older adult Patient ENgagement), a novel dataset supporting AI-driven engagement recognition. It was collected from eleven older adults participating in weekly virtual group learning sessions over six weeks as part of cardiac rehabilitation, producing over 35 hours of data, making it the largest dataset of its kind. To protect privacy, raw video is withheld; instead, the released data include facial, hand, and body joint landmarks, along with affective and behavioral features extracted from video. Annotations include binary engagement states, affective and behavioral labels, and context-type indicators, such as whether the instructor addressed the group or an individual. The dataset offers versions with 5-, 10-, 30-second, and variable-length samples. To demonstrate utility, multiple machine learning and deep learning models were trained, achieving engagement recognition accuracy of up to 81 percent. OPEN provides a scalable foundation for personalized engagement modeling in aging populations and contributes to broader engagement recognition research.

DArFace: Deformation Aware Robustness for Low Quality Face Recognition

Facial recognition systems have achieved remarkable success by leveraging deep neural networks, advanced loss functions, and large-scale datasets. However, their performance often deteriorates in real-world scenarios involving low-quality facial images. Such degradations, common in surveillance footage or standoff imaging include low resolution, motion blur, and various distortions, resulting in a substantial domain gap from the high-quality data typically used during training. While existing approaches attempt to address robustness by modifying network architectures or modeling global spatial transformations, they frequently overlook local, non-rigid deformations that are inherently present in real-world settings. In this work, we introduce DArFace, a Deformation-Aware robust Face recognition framework that enhances robustness to such degradations without requiring paired high- and low-quality training samples. Our method adversarially integrates both global transformations (e.g., rotation, translation) and local elastic deformations during training to simulate realistic low-quality conditions. Moreover, we introduce a contrastive objective to enforce identity consistency across different deformed views. Extensive evaluations on low-quality benchmarks including TinyFace, IJB-B, and IJB-C demonstrate that DArFace surpasses state-of-the-art methods, with significant gains attributed to the inclusion of local deformation modeling.

Degradation-Agnostic Statistical Facial Feature Transformation for Blind Face Restoration in Adverse Weather Conditions

With the increasing deployment of intelligent CCTV systems in outdoor environments, there is a growing demand for face recognition systems optimized for challenging weather conditions. Adverse weather significantly degrades image quality, which in turn reduces recognition accuracy. Although recent face image restoration (FIR) models based on generative adversarial networks (GANs) and diffusion models have shown progress, their performance remains limited due to the lack of dedicated modules that explicitly address weather-induced degradations. This leads to distorted facial textures and structures. To address these limitations, we propose a novel GAN-based blind FIR framework that integrates two key components: local Statistical Facial Feature Transformation (SFFT) and Degradation-Agnostic Feature Embedding (DAFE). The local SFFT module enhances facial structure and color fidelity by aligning the local statistical distributions of low-quality (LQ) facial regions with those of high-quality (HQ) counterparts. Complementarily, the DAFE module enables robust statistical facial feature extraction under adverse weather conditions by aligning LQ and HQ encoder representations, thereby making the restoration process adaptive to severe weather-induced degradations. Experimental results demonstrate that the proposed degradation-agnostic SFFT model outperforms existing state-of-the-art FIR methods based on GAN and diffusion models, particularly in suppressing texture distortions and accurately reconstructing facial structures. Furthermore, both the SFFT and DAFE modules are empirically validated in enhancing structural fidelity and perceptual quality in face restoration under challenging weather scenarios.

Non-Adaptive Adversarial Face Generation

Adversarial attacks on face recognition systems (FRSs) pose serious security and privacy threats, especially when these systems are used for identity verification. In this paper, we propose a novel method for generating adversarial faces-synthetic facial images that are visually distinct yet recognized as a target identity by the FRS. Unlike iterative optimization-based approaches (e.g., gradient descent or other iterative solvers), our method leverages the structural characteristics of the FRS feature space. We figure out that individuals sharing the same attribute (e.g., gender or race) form an attributed subsphere. By utilizing such subspheres, our method achieves both non-adaptiveness and a remarkably small number of queries. This eliminates the need for relying on transferability and open-source surrogate models, which have been a typical strategy when repeated adaptive queries to commercial FRSs are impossible. Despite requiring only a single non-adaptive query consisting of 100 face images, our method achieves a high success rate of over 93% against AWS's CompareFaces API at its default threshold. Furthermore, unlike many existing attacks that perturb a given image, our method can deliberately produce adversarial faces that impersonate the target identity while exhibiting high-level attributes chosen by the adversary.

Mitigating Bias in Facial Recognition Systems: Centroid Fairness Loss Optimization

The urging societal demand for fair AI systems has put pressure on the research community to develop predictive models that are not only globally accurate but also meet new fairness criteria, reflecting the lack of disparate mistreatment with respect to sensitive attributes ($\textit{e.g.}$ gender, ethnicity, age). In particular, the variability of the errors made by certain Facial Recognition (FR) systems across specific segments of the population compromises the deployment of the latter, and was judged unacceptable by regulatory authorities. Designing fair FR systems is a very challenging problem, mainly due to the complex and functional nature of the performance measure used in this domain ($\textit{i.e.}$ ROC curves) and because of the huge heterogeneity of the face image datasets usually available for training. In this paper, we propose a novel post-processing approach to improve the fairness of pre-trained FR models by optimizing a regression loss which acts on centroid-based scores. Beyond the computational advantages of the method, we present numerical experiments providing strong empirical evidence of the gain in fairness and of the ability to preserve global accuracy.