GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages

2026-08-01

AI Summary

This work proposes an end-to-end robotic system for autonomous portrait sketching that integrates real-time perception with artistic expression. The system captures facial images from a video stream and, leveraging the Gemini Vision API, generates minimalist line drawings tailored for real-time artistic abstraction—a first in this domain. It further incorporates graph-based stroke sequencing optimization and motion control of a six-degree-of-freedom collaborative robotic arm to establish a unified perception–cognition–planning–execution pipeline. Experimental evaluations demonstrate high performance across multiple dimensions on a 5-point scale, achieving scores of 4.33 in sketch quality, 4.53 in execution fidelity, and 4.65 in user experience. The resulting portraits effectively balance identity recognizability with expressive artistic style.

Abstract

We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch generation, and robotic drawing. The system captures video frames, extracts facial regions, converts them into minimalist single-line sketches using the Gemini Vision API, optimizes stroke order through graph-based path planning, and executes smooth trajectories on a 6-DoF collaborative manipulator. This perception-cognition-action pipeline integrates computer vision, neural artistic abstraction, motion optimization, and robot control. User ratings on a 5-point scale were high for sketch quality 4.33, perceived execution 4.53, and user experience 4.65, indicating recognizable, appealing, and engaging robotic portraits.

Problem

• autonomous robotic portrait
• real-time face detection
• AI-based sketch generation
• robotic drawing
• neural artistic abstraction

Innovation

• autonomous robotic drawing
• AI-based sketch generation
• graph-based path planning
• perception-cognition-action pipeline
• Gemini Vision API