arXiv subjects

Hasti Seifi

Publications and source records attributed to Hasti Seifi.

At least 19 recordsLinked to original sources

arXiv2026

SkillComposer: Learning Reusable Skills for Natural-Language Robot Programming

Natural-language interfaces can lower the barrier to programming robots, but existing systems struggle when users request complex tasks. While large language models (LLMs) perform well with simple commands, they often struggle to generate code for multi-step tasks, decompose high-level instructions, or reuse prior solutions. We present SkillComposer, an interactive natural-language robot programming system for simulation environments that continually learns reusable program abstractions. SkillComposer uses a generate-test architecture in which an LLM iteratively generates and revises robot programs before execution. Successful programs are stored and processed by an online library-learning algorithm that compresses recurring function sequences into reusable macro skills for future tasks. We evaluate SkillComposer through ablation experiments and a user study with 12 participants to determine its effectiveness on manipulation and robot caregiving tasks. The results show that evaluator-guided generation and learned abstractions improve success rates and usability while reducing user effort in natural-language robot programming.

cs.RO↗

arXiv2026

VisionPulse: A Virtual Reality System Enabling Accessible Discovery and Navigation for Blind and Low Vision Users

Free exploration is an important aspect of many engaging virtual reality (VR) experiences, yet remains largely inaccessible to blind and low vision (BLV) users due to its reliance on visual feedback. Existing approaches support BLV navigation through prebuilt menus of environment and audio beacons, but offer limited support for free-form discovery. We present VisionPulse, an accessible VR system that enables BLV users to explore virtual environments through natural head and hand movements, combined with auditory, haptic, and text-to-speech feedback. VisionPulse introduces a discovery-driven approach that allows users to progressively uncover regions and objects, alongside navigation support through waypoint guidance and object localization via responsive audio and orientation-based haptics. A study with 12 BLV participants showed a strong preference for VisionPulse's discovery-based exploration and multimodal feedback, without negatively impacting task performance or perceived workload. Our findings underscore the importance of accessible, free-form VR experiences, and contribute insights for inclusive VR design.

cs.HC↗

arXiv2026

Adaptive Geodesic Conformal Prediction for Egocentric Camera Pose Estimation

Egocentric pose estimation for Augmented Reality (AR) and assistive devices requires not just accurate predictions but guaranteed uncertainty regions. Conformal prediction (CP) provides such guarantees without retraining, but we show that standard CP with a single fixed threshold achieves nominal 90% overall coverage while covering only ~60% of the hardest 25% of frames (Q4) -- a ~30 percentage-point conditional coverage gap consistent across 12 participants, 3 predictors, and 3 horizons (108 evaluations) on EPIC-Fields. We further show that a geodesic SE(3) nonconformity score identifies physically harder frames than Euclidean scoring, with only 15-26% Q4 overlap and 2-3x higher ground-truth camera displacement for geodesic Q4 frames. To close the coverage gap, we propose DINOv2-Bridge adaptive CP: a two-stage difficulty estimator trained on a single source participant that transfers cross-participant without any images at test time, improving Q4 coverage from ~0.75 to ~0.93 while maintaining overall coverage at the 90% target.

cs.CV↗

arXiv2026

Recent Advances in Multimodal Affective Computing: An NLP Perspective

Multimodal affective computing has gained increasing attention due to its broad applications in understanding human behavior and intentions, particularly in text-centric multimodal scenarios. Existing research spans diverse tasks, modalities, and modeling paradigms, yet lacks a unified perspective. In this survey, we systematically review recent advances from an NLP perspective, focusing on four representative tasks: multimodal sentiment analysis (MSA), multimodal emotion recognition in conversation (MERC), multimodal aspect-based sentiment analysis (MABSA), and multimodal multi-label emotion recognition (MMER). We present a unified view by comparing task formulations, benchmark datasets, and evaluation protocols, and by organizing representative methods into key paradigms, including multitask learning, pre-trained models, knowledge enhancement, and contextual modeling. We further extend the discussion to related directions, such as facial, acoustic, and physiological modalities, as well as emotion cause analysis. Finally, we highlight key challenges and outline promising future directions. To facilitate further research, we release a curated repository of relevant works and resources \footnote{https://anonymous.4open.science/r/Multimodal-Affective-Computing-Survey-9819}.

cs.CL↗

arXiv2026

ViDscribe: Multimodal AI for Customizing Audio Description and Question Answering in Online Videos

Advances in multimodal large language models enable automatic video narration and question answering (VQA), offering scalable alternatives to labor-intensive, human-authored audio descriptions (ADs) for blind and low vision (BLV) viewers. However, prior AI-driven AD systems rarely adapt to the diverse needs and preferences of BLV individuals across videos and are typically evaluated in controlled, single-session settings. We present ViDscribe, a web-based platform that integrates AI-generated ADs with six types of user customizations and a conversational VQA interface for YouTube videos. Through a longitudinal, in-the-wild study with eight BLV participants, we examine how users engage with customization and VQA features over time. Our results show sustained engagement with both features and that customized ADs improve effectiveness, enjoyment, and immersion compared to default ADs, highlighting the value of personalized, interactive video access for BLV users.

cs.HC↗

arXiv2026

Sound2Hap: Learning Audio-to-Vibrotactile Haptic Generation from Human Ratings

Environmental sounds like footsteps, keyboard typing, or dog barking carry rich information and emotional context, making them valuable for designing haptics in user applications. Existing audio-to-vibration methods, however, rely on signal-processing rules tuned for music or games and often fail to generalize across diverse sounds. To address this, we first investigated user perception of four existing audio-to-haptic algorithms, then created a data-driven model for environmental sounds. In Study 1, 34 participants rated vibrations generated by the four algorithms for 1,000 sounds, revealing no consistent algorithm preferences. Using this dataset, we trained Sound2Hap, a CNN-based autoencoder, to generate perceptually meaningful vibrations from diverse sounds with low latency. In Study 2, 15 participants rated its output higher than signal-processing baselines on both audio-vibration match and Haptic Experience Index (HXI), finding it more harmonious with diverse sounds. This work demonstrates a perceptually validated approach to audio-haptic translation, broadening the reach of sound-driven haptics.

cs.HC↗

arXiv2026

HapticLLaMA: A Multimodal Sensory Language Model for Haptic Captioning

Haptic captioning is the task of generating natural language descriptions from haptic signals, such as vibrations, for use in virtual reality, accessibility, and rehabilitation applications. While previous multimodal research has focused primarily on vision and audio, haptic signals for the sense of touch remain underexplored. To address this gap, we formalize the haptic captioning task and propose HapticLLaMA, a multimodal sensory language model that interprets vibration signals into descriptions in a given sensory, emotional, or associative category. We investigate two types of haptic tokenizers, a frequency-based tokenizer and an EnCodec-based tokenizer, that convert haptic signals into sequences of discrete units, enabling their integration with the LLaMA model. HapticLLaMA is trained in two stages: (1) supervised fine-tuning using the LLaMA architecture with LoRA-based adaptation, and (2) fine-tuning via reinforcement learning from human feedback (RLHF). We assess HapticLLaMA's captioning performance using both automated n-gram metrics and human evaluation. HapticLLaMA demonstrates strong capability in interpreting haptic vibration signals, achieving a METEOR score of 59.98 and a BLEU-4 score of 32.06 respectively. Additionally, over 61% of the generated captions received human ratings above 3.5 on a 7-point scale, with RLHF yielding a 10% improvement in the overall rating distribution, indicating stronger alignment with human haptic perception. These findings highlight the potential of large language models to process and adapt to sensory data.

cs.CL↗

arXiv2025

ChartQA-X: Generating Explanations for Visual Chart Reasoning

The ability to explain complex information from chart images is vital for effective data-driven decision-making. In this work, we address the challenge of generating detailed explanations alongside answering questions about charts. We present ChartQA-X, a comprehensive dataset comprising 30,799 chart samples across four chart types, each paired with contextually relevant questions, answers, and explanations. Explanations are generated and selected based on metrics such as faithfulness, informativeness, coherence, and perplexity. Our human evaluation with 245 participants shows that model-generated explanations in ChartQA-X surpass human-written explanations in accuracy and logic and are comparable in terms of clarity and overall quality. Moreover, models fine-tuned on ChartQA-X show substantial improvements across various metrics, including absolute gains of up to 24.57 points in explanation quality, 18.96 percentage points in question-answering accuracy, and 14.75 percentage points on unseen benchmarks for the same task. By integrating explanatory narratives with answers, our approach enables agents to convey complex visual information more effectively, improving comprehension and greater trust in the generated responses.

cs.CV↗

arXiv2025

DescribePro: Collaborative Audio Description with Human-AI Interaction

Audio description (AD) makes video content accessible to millions of blind and low vision (BLV) users. However, creating high-quality AD involves a trade-off between the precision of human-crafted descriptions and the efficiency of AI-generated ones. To address this, we present DescribePro a collaborative AD authoring system that enables describers to iteratively refine AI-generated descriptions through multimodal large language model prompting and manual editing. DescribePro also supports community collaboration by allowing users to fork and edit existing ADs, enabling the exploration of different narrative styles. We evaluate DescribePro with 18 describers (9 professionals and 9 novices) using quantitative and qualitative methods. Results show that AI support reduces repetitive work while helping professionals preserve their stylistic choices and easing the cognitive load for novices. Collaborative tags and variations show potential for providing customizations, version control, and training new describers. These findings highlight the potential of collaborative, AI-assisted tools to enhance and scale AD authorship.

cs.HC↗

arXiv2025

HapticCap: A Multimodal Dataset and Task for Understanding User Experience of Vibration Haptic Signals

Haptic signals, from smartphone vibrations to virtual reality touch feedback, can effectively convey information and enhance realism, but designing signals that resonate meaningfully with users is challenging. To facilitate this, we introduce a multimodal dataset and task, of matching user descriptions to vibration haptic signals, and highlight two primary challenges: (1) lack of large haptic vibration datasets annotated with textual descriptions as collecting haptic descriptions is time-consuming, and (2) limited capability of existing tasks and models to describe vibration signals in text. To advance this area, we create HapticCap, the first fully human-annotated haptic-captioned dataset, containing 92,070 haptic-text pairs for user descriptions of sensory, emotional, and associative attributes of vibrations. Based on HapticCap, we propose the haptic-caption retrieval task and present the results of this task from a supervised contrastive learning framework that brings together text representations within specific categories and vibrations. Overall, the combination of language model T5 and audio model AST yields the best performance in the haptic-caption retrieval task, especially when separately trained for each description category.

cs.CL↗

arXiv2025

Partitioner Guided Modal Learning Framework

Multimodal learning benefits from multiple modal information, and each learned modal representations can be divided into uni-modal that can be learned from uni-modal training and paired-modal features that can be learned from cross-modal interaction. Building on this perspective, we propose a partitioner-guided modal learning framework, PgM, which consists of the modal partitioner, uni-modal learner, paired-modal learner, and uni-paired modal decoder. Modal partitioner segments the learned modal representation into uni-modal and paired-modal features. Modal learner incorporates two dedicated components for uni-modal and paired-modal learning. Uni-paired modal decoder reconstructs modal representation based on uni-modal and paired-modal features. PgM offers three key benefits: 1) thorough learning of uni-modal and paired-modal features, 2) flexible distribution adjustment for uni-modal and paired-modal representations to suit diverse downstream tasks, and 3) different learning rates across modalities and partitions. Extensive experiments demonstrate the effectiveness of PgM across four multimodal tasks and further highlight its transferability to existing models. Additionally, we visualize the distribution of uni-modal and paired-modal features across modalities and tasks, offering insights into their respective contributions.

cs.CL↗

arXiv2025

Describe Now: User-Driven Audio Description for Blind and Low Vision Individuals

Audio descriptions (AD) make videos accessible for blind and low vision (BLV) users by describing visual elements that cannot be understood from the main audio track. AD created by professionals or novice describers is time-consuming and offers little customization or control to BLV viewers on description length and content and when they receive it. To address this gap, we explore user-driven AI-generated descriptions, enabling BLV viewers to control both the timing and level of detail of the descriptions they receive. In a study, 20 BLV participants activated audio descriptions for seven different video genres with two levels of detail: concise and detailed. Our findings reveal differences in the preferred frequency and level of detail of ADs for different videos, participants' sense of control with this style of AD delivery, and its limitations. We discuss the implications of these findings for the development of future AD tools for BLV users.

cs.HC↗

arXiv2025

Text Entry for XR Trove (TEXT): Collecting and Analyzing Techniques for Text Input in XR

Text entry for extended reality (XR) is far from perfect, and a variety of text entry techniques (TETs) have been proposed to fit various contexts of use. However, comparing between TETs remains challenging due to the lack of a consolidated collection of techniques, and limited understanding of how interaction attributes of a technique (e.g., presence of visual feedback) impact user performance. To address these gaps, this paper examines the current landscape of XR TETs by creating a database of 176 different techniques. We analyze this database to highlight trends in the design of these techniques, the metrics used to evaluate them, and how various interaction attributes impact these metrics. We discuss implications for future techniques and present TEXT: Text Entry for XR Trove, an interactive online tool to navigate our database.

cs.HC↗

arXiv2025

VideoA11y: Method and Dataset for Accessible Video Description

Video descriptions are crucial for blind and low vision (BLV) users to access visual content. However, current artificial intelligence models for generating descriptions often fall short due to limitations in the quality of human annotations within training datasets, resulting in descriptions that do not fully meet BLV users' needs. To address this gap, we introduce VideoA11y, an approach that leverages multimodal large language models (MLLMs) and video accessibility guidelines to generate descriptions tailored for BLV individuals. Using this method, we have curated VideoA11y-40K, the largest and most comprehensive dataset of 40,000 videos described for BLV users. Rigorous experiments across 15 video categories, involving 347 sighted participants, 40 BLV participants, and seven professional describers, showed that VideoA11y descriptions outperform novice human annotations and are comparable to trained human annotations in clarity, accuracy, objectivity, descriptiveness, and user satisfaction. We evaluated models on VideoA11y-40K using both standard and custom metrics, demonstrating that MLLMs fine-tuned on this dataset produce high-quality accessible descriptions. Code and dataset are available at https://people-robots.github.io/VideoA11y.

cs.CV↗

arXiv2025

Can a Machine Feel Vibrations?: A Framework for Vibrotactile Sensation and Emotion Prediction via a Neural Network

Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and user studies. To support haptic design, we propose a framework for predicting sensory and emotional ratings from vibration signals. We created 154 Tactons and conducted a study to collect acceleration data from smartphones and roughness, valence, and arousal user ratings (n=36). We converted the Tacton signals into two-channel spectrograms reflecting the spectral sensitivities of mechanoreceptors, then input them into VibNet, our dual-stream neural network. The first stream captures sequential features using recurrent networks, while the second captures temporal-spectral features using 2D convolutional networks. VibNet outperformed baseline models, with 82% of its predictions falling within the standard deviations of ground truth user ratings for two new Tacton sets. We discuss the efficacy of our mechanoreceptive processing and dual-stream neural network and present future research directions.

cs.HC↗

arXiv2024

Retrieving Implicit and Explicit Emotional Events Using Large Language Models

Large language models (LLMs) have garnered significant attention in recent years due to their impressive performance. While considerable research has evaluated these models from various perspectives, the extent to which LLMs can perform implicit and explicit emotion retrieval remains largely unexplored. To address this gap, this study investigates LLMs' emotion retrieval capabilities in commonsense. Through extensive experiments involving multiple models, we systematically evaluate the ability of LLMs on emotion retrieval. Specifically, we propose a supervised contrastive probing method to verify LLMs' performance for implicit and explicit emotion retrieval, as well as the diversity of the emotional events they retrieve. The results offer valuable insights into the strengths and limitations of LLMs in handling emotion retrieval.

cs.CL↗

arXiv2024

Grounding Emotional Descriptions to Electrovibration Haptic Signals

Designing and displaying haptic signals with sensory and emotional attributes can improve the user experience in various applications. Free-form user language provides rich sensory and emotional information for haptic design (e.g., ``This signal feels smooth and exciting''), but little work exists on linking user descriptions to haptic signals (i.e., language grounding). To address this gap, we conducted a study where 12 users described the feel of 32 signals perceived on a surface haptics (i.e., electrovibration) display. We developed a computational pipeline using natural language processing (NLP) techniques, such as GPT-3.5 Turbo and word embedding methods, to extract sensory and emotional keywords and group them into semantic clusters (i.e., concepts). We linked the keyword clusters to haptic signal features (e.g., pulse count) using correlation analysis. The proposed pipeline demonstrates the viability of a computational approach to analyzing haptic experiences. We discuss our future plans for creating a predictive model of haptic experience.

cs.HC↗

arXiv2024

UniMEEC: Towards Unified Multimodal Emotion Recognition and Emotion Cause

Multimodal emotion recognition in conversation (MERC) and multimodal emotion-cause pair extraction (MECPE) have recently garnered significant attention. Emotions are the expression of affect or feelings; responses to specific events, or situations -- known as emotion causes. Both collectively explain the causality between human emotion and intents. However, existing works treat emotion recognition and emotion cause extraction as two individual problems, ignoring their natural causality. In this paper, we propose a Unified Multimodal Emotion recognition and Emotion-Cause analysis framework (UniMEEC) to explore the causality between emotion and emotion cause. Concretely, UniMEEC reformulates the MERC and MECPE tasks as mask prediction problems and unifies them with a causal prompt template. To differentiate the modal effects, UniMEEC proposes a multimodal causal prompt to probe the pre-trained knowledge specified to modality and implements cross-task and cross-modality interactions under task-oriented settings. Experiment results on four public benchmark datasets verify the model performance on MERC and MECPE tasks and achieve consistent improvements compared with the previous state-of-the-art methods.

cs.CL↗