# Articulated Humanoid Head for a Robot Receptionist Capable of Natural Human Interaction

arXiv: https://arxiv.org/abs/2607.17042 · HTML: https://mlsanity.com/paper/2607.17042/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 27 references that are in the map.
- First posted on arXiv 19 Jul 2026.

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

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Mixtral of Experts](https://mlsanity.com/paper/2401.04088/) (2024)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [The Falcon Series of Open Language Models](https://mlsanity.com/paper/2311.16867/) (2023)
- [AdaFace: Quality Adaptive Margin for Face Recognition](https://mlsanity.com/paper/2204.00964/) (2022)
- [Sample and Computation Redistribution for Efficient Face Detection](https://mlsanity.com/paper/2105.04714/) (2021)
- [ODAS: Open embeddeD Audition System](https://mlsanity.com/paper/2103.03954/) (2021)

## Abstract (arXiv)

Humanoid robots have become increasingly popular in applications such as social interaction, education, and service roles, which drives the need for more natural and efficient human-robot interactions. However, currently available humanoid heads often face limitations, including high costs, mechanical complexity, and limited adaptability across diverse environments. To address these challenges, we present an articulated humanoid robot head designed for a receptionist role, integrating a mechanical structure with 21 degrees of freedom (DoF), including mechanisms for the mouth, eyes, eyebrows, and neck, and covered with realistic silicone skin to achieve a human-like appearance and expression. The system integrates a model-based architecture that combines SCRFD, ArcFace, and ByTetrack for face recognition and Llama and Whisper for natural language processing, with hardware support enabling real-time operations and human re-identification. The conversational ability and re-identification capabilities of the humanoid robot head were quantitatively measured, while its emotional expressiveness and human likeness were evaluated through a user study, achieving an average human likeness score of 4.13 out of 5.