Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation

arXiv:2609.23392 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-22

Terminology

• Accuracy — 5× in this paper · explained in 1 episode
• Missed Trigger Rate — 3× in this paper
• Robustness — 3× in this paper · explained in 5 episodes
• Intertrial False Trigger Rate — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Pairwise Comparisons — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Transformer Models — 1× in this paper · explained in 2 episodes

Sources

• A Proposed Set of Communicative Gestures for Human Robot Interaction and an RGB Image-based Gesture Recognizer Implemented in ROS
• MediaPipe Hands: On-device Real-time Hand Tracking

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