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1. Semantic Gaze Labeling for Human-Robot Shared Manipulation

   Aronson, Reuben M; Admoni, Henny (June 2019, ACM Symposium on Eye Tracking Research & Applications)

   Human-robot collaboration systems benefit from recognizing people’s intentions. This capability is especially useful for collaborative manipulation applications, in which users operate robot arms to manipulate objects. For collaborative manipulation, systems can determine users’ intentions by tracking eye gaze and identifying gaze fixations on particular objects in the scene (i.e., semantic gaze labeling). Translating 2D fixation locations (from eye trackers) into 3D fixation locations (in the real world) is a technical challenge. One approach is to assign each fixation to the object closest to it. However, calibration drift, head motion, and the extra dimension required for real-world interactions make this position matching approach inaccurate. In this work, we introduce velocity features that compare the relative motion between subsequent gaze fixations and a nite set of known points and assign fixation position to one of those known points. We validate our approach on synthetic data to demonstrate that classifying using velocity features is more robust than a position matching approach. In addition, we show that a classifier using velocity features improves semantic labeling on a real-world dataset of human-robot assistive manipulation interactions. 

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2. WebGazer: Scalable Webcam Eye Tracking Using User Interactions

   Papoutsaki, Alexandra; Sangkloy, Patsorn; Laskey, James; Daskalova, Nediyana; Huang, Jeff; Hays, James (January 2016, Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence - IJCAI 2016)

   We introduce WebGazer, an online eye tracker that uses common webcams already present in laptops and mobile devices to infer the eye-gaze locations of web visitors on a page in real time. The eye tracking model self-calibrates by watching web visitors interact with the web page and trains a mapping between features of the eye and positions on the screen. This approach aims to provide a natural experience to everyday users that is not restricted to laboratories and highly controlled user studies. WebGazer has two key components: a pupil detector that can be combined with any eye detection library, and a gaze estimator using regression analysis informed by user interactions. We perform a large remote online study and a small in-person study to evaluate WebGazer. The findings show that WebGazer can learn from user interactions and that its accuracy is sufficient for approximating the user's gaze. As part of this paper, we release the first eye tracking library that can be easily integrated in any website for real-time gaze interactions, usability studies, or web research. 

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3. Gaze Complements Control Input for Goal Prediction During Assisted Teleoperation

   Aronson, Reuben M.; Admoni, Henny (January 2022, Robotics science and systems)

   Shared control systems can make complex robot teleoperation tasks easier for users. These systems predict the user’s goal, determine the motion required for the robot to reach that goal, and combine that motion with the user’s input. Goal prediction is generally based on the user’s control input (e.g., the joystick signal). In this paper, we show that this prediction method is especially effective when users follow standard noisily optimal behavior models. In tasks with input constraints like modal control, however, this effectiveness no longer holds, so additional sources for goal prediction can improve assistance. We implement a novel shared control system that combines natural eye gaze with joystick input to predict people’s goals online, and we evaluate our system in a real-world, COVID-safe user study. We find that modal control reduces the efficiency of assistance according to our model, and when gaze provides a prediction earlier in the task, the system’s performance improves. However, gaze on its own is unreliable and assistance using only gaze performs poorly. We conclude that control input and natural gaze serve different and complementary roles in goal prediction, and using them together leads to improved assistance. 

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4. Eye-tracking as a proxy for coherence and complexity of texts

   https://doi.org/10.1371/journal.pone.0260236  

   Torres, Débora; Sena, Wagner R.; Carmona, Humberto A.; Moreira, André A.; Makse, Hernán A.; Andrade, José S. (December 2021, PLOS ONE)

   Ribeiro, Haroldo V. (Ed.)

   Reading is a complex cognitive process that involves primary oculomotor function and high-level activities like attention focus and language processing. When we read, our eyes move by primary physiological functions while responding to language-processing demands. In fact, the eyes perform discontinuous twofold movements, namely, successive long jumps (saccades) interposed by small steps (fixations) in which the gaze “scans” confined locations. It is only through the fixations that information is effectively captured for brain processing. Since individuals can express similar as well as entirely different opinions about a given text, it is therefore expected that the form, content and style of a text could induce different eye-movement patterns among people. A question that naturally arises is whether these individuals’ behaviours are correlated, so that eye-tracking while reading can be used as a proxy for text subjective properties. Here we perform a set of eye-tracking experiments with a group of individuals reading different types of texts, including children stories, random word generated texts and excerpts from literature work. In parallel, an extensive Internet survey was conducted for categorizing these texts in terms of their complexity and coherence, considering a large number of individuals selected according to different ages, gender and levels of education. The computational analysis of the fixation maps obtained from the gaze trajectories of the subjects for a given text reveals that the average “magnetization” of the fixation configurations correlates strongly with their complexity observed in the survey. Moreover, we perform a thermodynamic analysis using the Maximum-Entropy Model and find that coherent texts were closer to their corresponding “critical points” than non-coherent ones, as computed from the Pairwise Maximum-Entropy method, suggesting that different texts may induce distinct cohesive reading activities. 

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5. Introducing Point-of-Interest as an alternative to Area-of-Interest for fixation duration analysis

   https://doi.org/10.1371/journal.pone.0250170  

   Rim, Nak Won; Choe, Kyoung Whan; Scrivner, Coltan; Berman, Marc G. (May 2021, PLOS ONE)

   Kasneci, Enkelejda (Ed.)

   Many eye-tracking data analyses rely on the Area-of-Interest (AOI) methodology, which utilizes AOIs to analyze metrics such as fixations. However, AOI-based methods have some inherent limitations including variability and subjectivity in shape, size, and location of AOIs. In this article, we propose an alternative approach to the traditional AOI dwell time analysis: Weighted Sum Durations (WSD). This approach decreases the subjectivity of AOI definitions by using Points-of-Interest (POI) while maintaining interpretability. In WSD, the durations of fixations toward each POI is weighted by the distance from the POI and summed together to generate a metric comparable to AOI dwell time. To validate WSD, we reanalyzed data from a previously published eye-tracking study (n = 90). The re-analysis replicated the original findings that people gaze less towards faces and more toward points of contact when viewing violent social interactions. 

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