# A Hybrid Deep Learning Framework for Emotion Recognition in Children with Autism During NAO Robot-Mediated Interaction

arXiv: https://arxiv.org/abs/2512.12208 · HTML: https://mlsanity.com/paper/2512.12208/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 39 references that are in the map.
- First posted on arXiv 13 Dec 2025.

## Builds on (most cited first, 11 of 11)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Joint Face Detection and Alignment using Multi-task Cascaded Convolutional Networks](https://mlsanity.com/paper/1604.02878/) (2016)
- [MediaPipe: A Framework for Building Perception Pipelines](https://mlsanity.com/paper/1906.08172/) (2019)
- [Evaluation: from precision, recall and F-measure to ROC, informedness, markedness and correlation](https://mlsanity.com/paper/2010.16061/) (2020)
- [Towards Reading Hidden Emotions: A comparative Study of Spontaneous Micro-expression Spotting and Recognition Methods](https://mlsanity.com/paper/1511.00423/) (2015)
- [Personalized Machine Learning for Robot Perception of Affect and Engagement in Autism Therapy](https://mlsanity.com/paper/1802.01186/) (2018)
- [Real-time Convolutional Neural Networks for Emotion and Gender Classification](https://mlsanity.com/paper/1710.07557/) (2017)
- [Addressing Racial Bias in Facial Emotion Recognition](https://mlsanity.com/paper/2308.04674/) (2023)

## Abstract (arXiv)

Understanding emotional responses in children with Autism Spectrum Disorder (ASD) during social interaction remains a critical challenge in both developmental psychology and human-robot interaction. This study presents a novel deep learning pipeline for emotion recognition in autistic children in response to a name-calling event by a humanoid robot (NAO), under controlled experimental settings. The dataset comprises of around 50,000 facial frames extracted from video recordings of 15 children with ASD. A hybrid model combining a fine-tuned ResNet-50-based Convolutional Neural Network (CNN) and a three-layer Graph Convolutional Network (GCN) trained on both visual and geometric features extracted from MediaPipe FaceMesh landmarks. Emotions were probabilistically labeled using a weighted ensemble of two models: DeepFace's and FER, each contributing to soft-label generation across seven emotion classes. Final classification leveraged a fused embedding optimized via Kullback-Leibler divergence. The proposed method demonstrates robust performance in modeling subtle affective responses and offers significant promise for affective profiling of ASD children in clinical and therapeutic human-robot interaction contexts, as the pipeline effectively captures micro emotional cues in neurodivergent children, addressing a major gap in autism-specific HRI research. This work represents the first such large-scale, real-world dataset and pipeline from India on autism-focused emotion analysis using social robotics, contributing an essential foundation for future personalized assistive technologies.