# Driving Animatronic Robot Facial Expression From Speech

arXiv: https://arxiv.org/abs/2403.12670 · HTML: https://mlsanity.com/paper/2403.12670/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 33 references that are in the map.
- First posted on arXiv 19 Mar 2024.

## Builds on (most cited first, 10 of 10)

- [wav2vec 2.0: A Framework for Self-Supervised Learning of Speech Representations](https://mlsanity.com/paper/2006.11477/) (2020)
- [Common Voice: A Massively-Multilingual Speech Corpus](https://mlsanity.com/paper/1912.06670/) (2019)
- [SadTalker: Learning Realistic 3D Motion Coefficients for Stylized Audio-Driven Single Image Talking Face Animation](https://mlsanity.com/paper/2211.12194/) (2022)
- [MakeItTalk: Speaker-Aware Talking-Head Animation](https://mlsanity.com/paper/2004.12992/) (2020)
- [Capture, Learning, and Synthesis of 3D Speaking Styles](https://mlsanity.com/paper/1905.03079/) (2019)
- [FaceFormer: Speech-Driven 3D Facial Animation with Transformers](https://mlsanity.com/paper/2112.05329/) (2021)
- [MeshTalk: 3D Face Animation from Speech using Cross-Modality Disentanglement](https://mlsanity.com/paper/2104.08223/) (2021)
- [Emotional Speech-Driven Animation with Content-Emotion Disentanglement](https://mlsanity.com/paper/2306.08990/) (2023)
- [Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models](https://mlsanity.com/paper/2105.12724/) (2021)
- [Optimizing Facial Expressions of an Android Robot Effectively: a Bayesian Optimization Approach](https://mlsanity.com/paper/2301.05620/) (2023)

## Built on by (most cited first, 1 of 1)

- [SingingBot: An Avatar-Driven System for Robotic Face Singing Performance](https://mlsanity.com/paper/2601.02125/) (2026)

## Abstract (arXiv)

Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expressions poses significant challenges due to the complexities of facial biomechanics and the need for responsive motion synthesis. This paper introduces a novel, skinning-centric approach to drive animatronic robot facial expressions from speech input. At its core, the proposed approach employs linear blend skinning (LBS) as a unifying representation, guiding innovations in both embodiment design and motion synthesis. LBS informs the actuation topology, facilitates human expression retargeting, and enables efficient speech-driven facial motion generation. This approach demonstrates the capability to produce highly realistic facial expressions on an animatronic face in real-time at over 4000 fps on a single Nvidia RTX 4090, significantly advancing robots' ability to replicate nuanced human expressions for natural interaction. To foster further research and development in this field, the code has been made publicly available at: urlhttps://github.com/library87/OpenRoboExp.