Equipping humanoid robots with the capability to understand emotional states of human interactants and express emotions appropriately according to situations is essential for affective human-robot interaction. However, enabling current vision-aware multimodal emotion recognition models for affective human-robot interaction in the real-world raises embodiment challenges: addressing the environmental noise issue and meeting real-time requirements. First, in multi-party conversation scenarios, the noises inherited in the visual observation of the robot, which may come from either 1) distracting objects in the scene or 2) inactive speakers appearing in the field of view of the robot, hinder the models from extracting emotional cues from vision inputs. Secondly, real-time response, a desired feature for an interactive system, is also challenging to achieve. To tackle both challenges, we introduce an affective human-robot interaction system called UGotMe designed specifically for multiparty conversations. Two denoising strategies are proposed and incorporated into the system to solve the first issue. Specifically, to filter out distracting objects in the scene, we propose extracting face images of the speakers from the raw images and introduce a customized active face extraction strategy to rule out inactive speakers. As for the second issue, we employ efficient data transmission from the robot to the local server to improve real-time response capability. We deploy UGotMe on a human robot named Ameca to validate its real-time inference capabilities in practical scenarios. Videos demonstrating real-world deployment are available at https://lipzh5.github.io/HumanoidVLE/

Community detection (or graph clustering) is crucial for unraveling the structural properties of complex networks. As an important technique in community detection, label propagation has shown the advantage of finding a good community structure with nearly linear time complexity. However, despite the progress that has been made, there are still several important issues that have not been properly addressed. First, the label propagation typically proceeds over the lower order structure of the network and only the direct one-hop connections between nodes are taken into consideration. Unfortunately, the higher order structure that may encode design principle of the network and be crucial for community detection is neglected under this regime. Second, the stability of the identified community structure may also be seriously affected by the inherent randomness in the label propagation process. To tackle the above issues, this article proposes a Motif-Aware Weighted Label Propagation method for community detection. We focus on triangles within the network, but our technique extends to other kinds of motifs as well. Specifically, the motif-based higher order structure mining is conducted to capture structural characteristics of the network. First, the motif of interest (locally meaningful pattern) is identified, and then, the motif-based hypergraph can be constructed to encode the higher order connections. To further utilize the structural information of the network, a re-weighted network is designed, which unifies both the higher order structure and the original lower order structure. Accordingly, a novel voting strategy termed NaS (considering both Number and Strength of connections) is proposed to update node labels during the label propagation process. In this way, the random label selection can be effectively eliminated, yielding more stable community structures. Experimental results on multiple real-world datasets have shown the superiority of the proposed method.

Network community detection is a hot research topic in network analysis. Although many methods have been proposed for community detection, most of them only take into consideration the lower-order structure of the network at the level of individual nodes and edges. Thus, they fail to capture the higher-order characteristics at the level of small dense subgraph patterns, e.g., motifs. Recently, some higher-order methods have been developed but they typically focus on the motif-based hypergraph which is assumed to be a connected graph. However, such assumption cannot be ensured in some real-world networks. In particular, the hypergraph may become fragmented. That is, it may consist of a large number of connected components and isolated nodes, despite the fact that the original network is a connected graph. Therefore, the existing higher-order methods would suffer seriously from the above fragmentation issue, since in these approaches, nodes without connection in hypergraph can't be grouped together even if they belong to the same community. To address the above fragmentation issue, we propose an Edge enhancement approach for Motif-aware community detection (EdMot ). The main idea is as follows. Firstly, a motif-based hypergraph is constructed and the top K largest connected components in the hypergraph are partitioned into modules. Afterwards, the connectivity structure within each module is strengthened by constructing an edge set to derive a clique from each module. Based on the new edge set, the original connectivity structure of the input network is enhanced to generate a rewired network, whereby the motif-based higher-order structure is leveraged and the hypergraph fragmentation issue is well addressed. Finally, the rewired network is partitioned to obtain the higher-order community structure. Extensive experiments have been conducted on eight real-world datasets and the results show the effectiveness of the proposed method in improving the community detection performance of state-of-the-art methods.