@inproceedings {pub6297,
	title = {Real-Time Robotic Emotional Expression from Mixed-Reality Demonstrations via Flow Matching},
	author = {Chao Wang AND Michael Gienger AND Fan Zhang},
	year = {2025},
	month = {October},
	abstract = {Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional expressions based on expert human demonstrations captured in Mixed Reality (MR). Our system enables experts to teleoperate a virtual robot from a first-person perspective, capturing their facial expressions, head movements, and upper-body gestures, and mapping these behaviors onto corresponding robotic components including eyes, ears, neck, and arms. Leveraging a flow-matching-based generative process, our model learns to produce coherent and varied behaviors in real-time in response to moving objects, conditioned explicitly on given emotional states. 
A preliminary test validated the effectiveness of our approach for generating autonomous expressions.},
	publisher = {IEEE},
	booktitle = {IROS 2025 Late-breaking work}
}