{"id":"https://openalex.org/W4416749784","doi":"https://doi.org/10.1109/iros60139.2025.11247632","title":"HAPI: A Model for Learning Robot Facial Expressions from Human Preferences","display_name":"HAPI: A Model for Learning Robot Facial Expressions from Human Preferences","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749784","doi":"https://doi.org/10.1109/iros60139.2025.11247632"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071628958","display_name":"Dongsheng Yang","orcid":"https://orcid.org/0000-0002-2547-2990"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dongsheng Yang","raw_affiliation_strings":["Kyoto University,Graduate School of Informatics,Kyoto,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Informatics,Kyoto,Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101901747","display_name":"Qianying Liu","orcid":"https://orcid.org/0000-0003-2008-1082"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Qianying Liu","raw_affiliation_strings":["National Institute of Informatics,Research and Development Center for Large Language Models,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Informatics,Research and Development Center for Large Language Models,Tokyo,Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088402526","display_name":"Wataru Sato","orcid":"https://orcid.org/0000-0001-8375-1253"},"institutions":[{"id":"https://openalex.org/I4210108837","display_name":"Guardian Industries (United States)","ror":"https://ror.org/023x6j183","country_code":"US","type":"company","lineage":["https://openalex.org/I4210108837"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wataru Sato","raw_affiliation_strings":["Psychological Process Research Team,Guardian Robot Project, RIKEN,Kyoto,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Psychological Process Research Team,Guardian Robot Project, RIKEN,Kyoto,Japan","institution_ids":["https://openalex.org/I4210108837"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057967837","display_name":"Takashi Minato","orcid":"https://orcid.org/0000-0003-4071-1352"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Takashi Minato","raw_affiliation_strings":["Interactive Robot Research Team,Guardian Robot Project, RIKEN,Kyoto,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robot Research Team,Guardian Robot Project, RIKEN,Kyoto,Japan","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101905296","display_name":"Chaoran Liu","orcid":"https://orcid.org/0000-0002-1821-5769"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chaoran Liu","raw_affiliation_strings":["National Institute of Informatics,Research and Development Center for Large Language Models,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Informatics,Research and Development Center for Large Language Models,Tokyo,Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102989550","display_name":"Shin\u2019ya Nishida","orcid":"https://orcid.org/0000-0002-5098-4752"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shin\u2019Ya Nishida","raw_affiliation_strings":["Kyoto University,Graduate School of Informatics,Kyoto,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Informatics,Kyoto,Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4954,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.87040254,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"18312","last_page":"18319"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.5562999844551086,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.5562999844551086,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.38920000195503235,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.01269999984651804,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/facial-expression","display_name":"Facial expression","score":0.7095000147819519},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6585999727249146},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5376999974250793},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5295000076293945},{"id":"https://openalex.org/keywords/expression","display_name":"Expression (computer science)","score":0.5263000130653381},{"id":"https://openalex.org/keywords/surprise","display_name":"Surprise","score":0.5134000182151794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4876999855041504},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.424699991941452}],"concepts":[{"id":"https://openalex.org/C195704467","wikidata":"https://www.wikidata.org/wiki/Q327968","display_name":"Facial expression","level":2,"score":0.7095000147819519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6604999899864197},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6585999727249146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6495000123977661},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5376999974250793},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5295000076293945},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.5263000130653381},{"id":"https://openalex.org/C2780343955","wikidata":"https://www.wikidata.org/wiki/Q333173","display_name":"Surprise","level":2,"score":0.5134000182151794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4876999855041504},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.424699991941452},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42080000042915344},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3910999894142151},{"id":"https://openalex.org/C143110190","wikidata":"https://www.wikidata.org/wiki/Q5373787","display_name":"Emotional expression","level":2,"score":0.3594000041484833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.357699990272522},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.3237000107765198},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.3165999948978424},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.27959999442100525},{"id":"https://openalex.org/C2776141551","wikidata":"https://www.wikidata.org/wiki/Q16000087","display_name":"Emotion perception","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C121687571","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Activity recognition","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1515481220","https://openalex.org/W1588539311","https://openalex.org/W1996076863","https://openalex.org/W2013355346","https://openalex.org/W2033442452","https://openalex.org/W2113636985","https://openalex.org/W2168743227","https://openalex.org/W2470218153","https://openalex.org/W2507533913","https://openalex.org/W2560442047","https://openalex.org/W2799041689","https://openalex.org/W2897782875","https://openalex.org/W2988576575","https://openalex.org/W3034751874","https://openalex.org/W3161346624","https://openalex.org/W3207411812","https://openalex.org/W4206096767","https://openalex.org/W4239181501","https://openalex.org/W4313563018","https://openalex.org/W4389666460","https://openalex.org/W4393218512","https://openalex.org/W4403603145","https://openalex.org/W4405784977"],"related_works":[],"abstract_inverted_index":{"Automatic":[0],"robotic":[1,92,179],"facial":[2],"expression":[3,120,129,180],"generation":[4,181],"is":[5],"crucial":[6],"for":[7,32],"human\u2013robot":[8],"interaction":[9],"(HRI),":[10],"as":[11],"handcrafted":[12],"methods":[13],"based":[14],"on":[15,131],"fixed":[16],"joint":[17],"configurations":[18],"often":[19],"yield":[20],"rigid":[21],"and":[22,49,57,66,87,105,127,144,151,158,173],"unnatural":[23],"behaviors.":[24],"Although":[25],"recent":[26],"automated":[27],"techniques":[28],"reduce":[29],"the":[30,44,89,107,168],"need":[31],"manual":[33],"tuning,":[34],"they":[35],"tend":[36],"to":[37,61,83,100],"fall":[38],"short":[39],"by":[40,156],"not":[41],"adequately":[42],"bridging":[43],"gap":[45,169],"between":[46,170],"human":[47,81,102,171,183],"preferences":[48,172],"model":[50,174],"predictions\u2014resulting":[51],"in":[52],"a":[53,75,114,132],"deficiency":[54],"of":[55,64,91,148],"nuanced":[56],"realistic":[58,143],"expressions":[59,147],"due":[60],"limited":[62],"degrees":[63],"freedom":[65],"insufficient":[67],"perceptual":[68],"integration.":[69],"In":[70],"this":[71,85],"work,":[72],"we":[73,95],"propose":[74],"novel":[76],"learning-to-rank":[77],"framework":[78,165],"that":[79,118,137,163],"leverages":[80],"feedback":[82],"address":[84],"discrepancy":[86],"enhanced":[88],"expressiveness":[90],"faces.":[93],"Specifically,":[94],"conduct":[96],"pairwise":[97],"comparison":[98],"annotations":[99],"collect":[101],"preference":[103],"data":[104],"develop":[106],"Human":[108],"Affective":[109],"Pairwise":[110],"Impressions":[111],"(HAPI)":[112],"model,":[113],"Siamese":[115],"RankNet-based":[116],"approach":[117,139],"refines":[119],"evaluation.":[121],"Results":[122],"obtained":[123],"via":[124],"Bayesian":[125],"Optimization":[126],"online":[128],"survey":[130],"35-DOF":[133],"android":[134],"platform":[135],"demonstrate":[136],"our":[138,164],"produces":[140],"significantly":[141],"more":[142],"socially":[145],"resonant":[146],"Anger,":[149],"Happiness,":[150],"Surprise":[152],"than":[153],"those":[154],"generated":[155],"baseline":[157],"expert-designed":[159],"methods.":[160],"This":[161],"confirms":[162],"effectively":[166],"bridges":[167],"predictions":[175],"while":[176],"robustly":[177],"aligning":[178],"with":[182],"affective":[184],"responses.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}