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Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Underwater human--robot interaction requires gesture commands that are both easy for divers to use and reliable for robots to recognize. We investigate these aspects through a closed-loop diver--robot interaction framework integrating a compact seven-gesture vocabulary, lightweight landmark-based recognition, and command-level interaction logic. We evaluate the framework through a user study and underwater robot experiments in a laboratory tank and a swimming pool. The user study supported the reproducibility of the gestures after brief learning. Recognition analysis further showed that visual

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