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<title>Feeling Machine - Expressive emotions for Reachy Mini</title>
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</style>
</head>
<body>
<!-- Hero Section -->
<section class="hero">
<div class="container">
<div class="hero-grid">
<div class="hero-visual">
<div class="pad-cube">
<span class="emoji">🎭</span>
<div class="axes">
P · A · D<br>
Pleasure · Arousal · Dominance
</div>
</div>
</div>
<div class="hero-content">
<div class="hero-title-wrapper">
<h1 class="hero-title">Feeling Machine</h1>
</div>
<div class="tags">
<span class="tag">emotions</span>
<span class="tag">procedural</span>
<span class="tag">PAD model</span>
<span class="tag">no speech</span>
</div>
<p class="hero-description">
<strong>Expressive robot that communicates through emotions only.</strong><br>
Reachy Mini listens to you and responds with procedurally-generated motion and sound based on the PAD emotional model. No speech, just pure expression.
</p>
</div>
</div>
</div>
</section>
<!-- Technical Section -->
<section class="technical">
<div class="container">
<div class="technical-grid">
<div>
<h2>How it works</h2>
<ol class="steps">
<li class="step">
<span class="step-number">1</span>
<div class="step-content">
<div class="step-title">Connect & Launch</div>
<div class="step-body">
Connect to your Reachy Mini, navigate to "Applications", find "Feeling Machine" and click "Launch" (make sure you have the <a href="https://hf.co/reachy-mini/#download" target="_blank" rel="noreferrer">dashboard</a> installed).
</div>
</div>
</li>
<li class="step">
<span class="step-number">2</span>
<div class="step-content">
<div class="step-title">Talk naturally</div>
<div class="step-body">Speak to the robot like you would to a friend. Tell jokes, share good or bad news, ask questions, or just say hello. <strong>The robot won't talk back</strong> - it only expresses emotions.</div>
</div>
</li>
<li class="step">
<span class="step-number">3</span>
<div class="step-content">
<div class="step-title">Watch it react</div>
<div class="step-body">The AI interprets what you say and responds with expressive body language and procedurally-generated sounds. Each reaction is unique!</div>
</div>
</li>
<li class="step">
<span class="step-number">4</span>
<div class="step-content">
<div class="step-title">Try classic emotions</div>
<div class="step-body">Say <strong>"play classic emotion"</strong> or <strong>"show me classic joy"</strong> to use pre-recorded animations from the Pollen library instead of procedural ones.</div>
</div>
</li>
</ol>
<h2>Installation (local)</h2>
<ol class="steps">
<li class="step">
<span class="step-number">1</span>
<div class="step-content">
<div class="step-title">Clone & install</div>
<div class="step-body">
<code>git clone https://huggingface.co/spaces/RemiFabre/feeling_machine</code><br>
<code>cd feeling_machine && uv sync</code>
</div>
</div>
</li>
<li class="step">
<span class="step-number">2</span>
<div class="step-content">
<div class="step-title">Run the app</div>
<div class="step-body">
<code>cd src/feeling_machine && python main.py --gradio</code><br>
Then open <strong>http://127.0.0.1:7860/</strong> or <strong>http://127.0.0.1:7861/</strong>
</div>
</div>
</li>
</ol>
</div>
<div>
<h2>The PAD Model</h2>
<p style="color: var(--muted-foreground); margin-bottom: 1rem; font-size: 0.9rem;">
Instead of playing pre-recorded animations, Feeling Machine generates unique expressive movements on-the-fly using the <strong>PAD emotional model</strong> - a psychological framework that represents emotions in a 3D space.
</p>
<div class="pad-explanation">
<h3>Three dimensions of emotion</h3>
<div class="pad-axis">
<span class="axis-label">Pleasure</span>
<span class="axis-desc">Positive (+1) ↔ Negative (-1)</span>
</div>
<div class="pad-axis">
<span class="axis-label">Arousal</span>
<span class="axis-desc">Excited (+1) ↔ Calm (-1)</span>
</div>
<div class="pad-axis">
<span class="axis-label">Dominance</span>
<span class="axis-desc">In control (+1) ↔ Submissive (-1)</span>
</div>
</div>
<h2>Why procedural generation?</h2>
<p style="color: var(--muted-foreground); margin-bottom: 1rem; font-size: 0.9rem;">
Pre-recorded emotions look the same every time. Procedural generation creates <strong>infinite variations</strong> - each expression is unique while staying emotionally consistent.
</p>
<p style="color: var(--muted-foreground); font-size: 0.9rem;">
The PAD values control head movement amplitude, speed, antenna positions, and sound characteristics. Joy produces quick, bouncy movements with high-pitched sounds. Sadness creates slow, drooping motions with lower tones.
</p>
<h2>Named emotions available</h2>
<p style="color: var(--muted-foreground); font-size: 0.9rem;">
<strong>joy</strong>, <strong>happiness</strong>, <strong>anger</strong>, <strong>fear</strong>, <strong>sadness</strong>, <strong>surprise</strong>, <strong>boredom</strong>, <strong>uncertainty</strong>, <strong>disgust</strong>, <strong>neutral</strong>
</p>
<p style="color: var(--muted-foreground); margin-top: 0.5rem; font-size: 0.85rem;">
Or the AI can specify custom P/A/D values for nuanced emotional expressions.
</p>
</div>
</div>
</div>
</section>
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<li><a href="https://huggingface.co/docs/reachy_mini/index" target="_blank" rel="noopener noreferrer" class="footer-link">Read the documentation & FAQ</a></li>
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<!-- Credits -->
<div class="footer-column">
<h4 class="footer-title">Credits</h4>
<p class="credits-text">PAD-based motion and sound generation by <strong>Anaelle Jaffré</strong>, from the <a href="https://github.com/InTheSnow31/reachy-mini-I3R/blob/main/src/movement_sound_generation/README.md" target="_blank" rel="noopener noreferrer"><u>I3R student project</u></a>.</p>
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