Gaze4HRI: Zero-shot Benchmarking Gaze Estimation Neural-Networks for Human-Robot Interaction
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| Format: | Preprint |
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2026
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| _version_ | 1866909017444450304 |
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| author | Sezer, Berk Küçük, Ali Görkem Şahin, Erol Kalkan, Sinan |
| author_facet | Sezer, Berk Küçük, Ali Görkem Şahin, Erol Kalkan, Sinan |
| contents | While zero-shot appearance-based 3D gaze estimation offers significant cost-efficiency by directly mapping RGB images to gaze vectors, its reliability in Human-Robot Interaction (HRI) settings remains uncertain. Existing benchmarks frequently overlook fundamental HRI conditions, such as dynamic camera viewpoints and moving targets in video. Furthermore, current cross-dataset evaluations often suffer from a complexity gap, where methods trained on diverse datasets are tested on significantly smaller and less varied sets, failing to assess true robustness. To bridge these gaps, we introduce Gaze4HRI, a large-scale dataset (50+ subjects, 3,000+ videos, 600,000+ frames) designed to evaluate state-of-the-art performance against critical HRI variables: illumination, head-gaze conflict, as well as the motion of camera and gaze target in video. Our benchmark reveals that all evaluated methods fail in at least one condition, identifying steeply-downward gaze as a universal failure point. Notably, PureGaze trained on the ETH-X-Gaze dataset uniquely maintains resilience across all other conditions. These results challenge the recent focus in the literature on complex spatial-temporal modeling and Transformer-based architectures. Instead, our findings suggest that extensive data diversity, as exemplified by the ETH-X-Gaze dataset, serves as the primary driver of zero-shot robustness in unconstrained environments, while resilience-enhancing frameworks, such as PureGaze's self-adversarial loss for gaze feature purification, provide a substantial further improvement. Ultimately, this study establishes a rigorous benchmark that provides practical guidelines for practitioners as well as reshaping future research. The dataset and codes are available at https://gazeforhri.github.io. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2605_04770 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Gaze4HRI: Zero-shot Benchmarking Gaze Estimation Neural-Networks for Human-Robot Interaction Sezer, Berk Küçük, Ali Görkem Şahin, Erol Kalkan, Sinan Computer Vision and Pattern Recognition Human-Computer Interaction Machine Learning Robotics While zero-shot appearance-based 3D gaze estimation offers significant cost-efficiency by directly mapping RGB images to gaze vectors, its reliability in Human-Robot Interaction (HRI) settings remains uncertain. Existing benchmarks frequently overlook fundamental HRI conditions, such as dynamic camera viewpoints and moving targets in video. Furthermore, current cross-dataset evaluations often suffer from a complexity gap, where methods trained on diverse datasets are tested on significantly smaller and less varied sets, failing to assess true robustness. To bridge these gaps, we introduce Gaze4HRI, a large-scale dataset (50+ subjects, 3,000+ videos, 600,000+ frames) designed to evaluate state-of-the-art performance against critical HRI variables: illumination, head-gaze conflict, as well as the motion of camera and gaze target in video. Our benchmark reveals that all evaluated methods fail in at least one condition, identifying steeply-downward gaze as a universal failure point. Notably, PureGaze trained on the ETH-X-Gaze dataset uniquely maintains resilience across all other conditions. These results challenge the recent focus in the literature on complex spatial-temporal modeling and Transformer-based architectures. Instead, our findings suggest that extensive data diversity, as exemplified by the ETH-X-Gaze dataset, serves as the primary driver of zero-shot robustness in unconstrained environments, while resilience-enhancing frameworks, such as PureGaze's self-adversarial loss for gaze feature purification, provide a substantial further improvement. Ultimately, this study establishes a rigorous benchmark that provides practical guidelines for practitioners as well as reshaping future research. The dataset and codes are available at https://gazeforhri.github.io. |
| title | Gaze4HRI: Zero-shot Benchmarking Gaze Estimation Neural-Networks for Human-Robot Interaction |
| topic | Computer Vision and Pattern Recognition Human-Computer Interaction Machine Learning Robotics |
| url | https://arxiv.org/abs/2605.04770 |