Pith Number

pith:SCID7NJX

pith:2026:SCID7NJXFTV5CZ4YIHAQQPUVNZ

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"I'm Not Mad, Just Focused'': Understanding Human Emotions in Human-Robot Collaboration

Dana Kuli\'c, Leimin Tian, Seung Chan Hong

A vision-language model for emotion recognition aligns better with human judgments than convolutional networks and produces preferred robot adaptations in collaboration tasks.

arxiv:2605.16816 v1 · 2026-05-16 · cs.RO

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\pithnumber{SCID7NJXFTV5CZ4YIHAQQPUVNZ}

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed VLM-ER system achieves higher semantic similarity and positive sentiment alignment with human annotations compared to a baseline convolutional neural network-based system. Further, participants in the user study preferred emotion-adaptive robot behaviour facilitated by the VLM-ER system.

C2weakest assumption

That modulating robot behavior according to the VLM-inferred emotional state will produce measurable improvements in collaboration quality and user preference without introducing new sources of error or bias in real-world HRC settings.

C3one line summary

A VLM-based emotion recognition system for human-robot collaboration achieves higher semantic and sentiment alignment with human annotations than a CNN baseline and results in preferred adaptive robot behavior in a user study.

References

28 extracted · 28 resolved · 0 Pith anchors

[1] Li Liu, Fu Guo, Zishuai Zou, and Vincent G Duffy. Application, development and future opportunities of collaborative robots (cobots) in manufacturing: A literature review.International Journal of Huma 2024

[2] Mohammed, and Jose L 2021

[3] A review of the emotion recognition model of robots.Applied Intelligence, 55(6):1–33, 2025 2025

[4] Detection of genuine and posed facial expressions of emotion: databases and methods.Frontiers in psychology, 11:580287, 2021 2021

[5] Facial emotion expressions in human–robot interaction: A survey.International Journal of Social Robotics, 14(7):1583–1604, 2022 2022

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:03:24.013497Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

90903fb5372cebd1679841c1083e956e506cd4f01d471efd650d7aa76ad4eee6

Aliases

arxiv: 2605.16816 · arxiv_version: 2605.16816v1 · doi: 10.48550/arxiv.2605.16816 · pith_short_12: SCID7NJXFTV5 · pith_short_16: SCID7NJXFTV5CZ4Y · pith_short_8: SCID7NJX

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/SCID7NJXFTV5CZ4YIHAQQPUVNZ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 90903fb5372cebd1679841c1083e956e506cd4f01d471efd650d7aa76ad4eee6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "63af1aff375647ee6e05c1e1799d93368399d58930e03d02b11349e0e4705955",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-16T05:18:22Z",
    "title_canon_sha256": "7b919790f37b75525dababa433ac6c7c1bf297a04e086b6b1461eea0ad4e2173"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.16816",
    "kind": "arxiv",
    "version": 1
  }
}