Multimodal Voice Activity Projection for Social Robot Mediation: Expected Behavior and Deployment Constraints

Antonio Cano; Guillermo Perez; Luis Merino; Randy Gomez

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arXiv · 2609.28317

Multimodal Voice Activity Projection for Social Robot Mediation: Expected Behavior and Deployment Constraints

Antonio Cano·Guillermo Perez·Luis Merino·Randy Gomez

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Abstract

Turn-taking prediction is especially relevant for social robots that act as mediators in human-human interaction, where the expected action is often not to speak, but to orient, wait, avoid interruption, or prepare a balanced intervention. This paper presents Multimodal Voice Activity Projection (MM-VAP) as a human state-aware perception layer for future robot mediation behavior. The model estimates the future evolution of the conversational floor from synchronized audio-visual evidence and derives turn-taking events such as Hold, Shift, Shift prediction, Backchannel prediction, and overlap-related states. The approach uses VA-related pretrained audio-visual encoders, LoRA adaptation, inter-speaker attention, and zero-shot event inference from future voice activity projections. Experiments on NoXi, NoXi+J, and Haru EDR support the feasibility of this formulation, especially for floor management events that can be connected to gaze preparation, active listening, and conservative intervention. Finally, the paper defines the expected robot output interface and discusses the main deployment constraints, including real-time inference, preprocessing latency, multimodal synchronization, and input-quality monitoring.

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Antonio Cano, Guillermo Perez, Luis Merino, Randy Gomez. 2026-09-23. Multimodal Voice Activity Projection for Social Robot Mediation: Expected Behavior and Deployment Constraints. https://arxiv.org/abs/2609.28317

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