README.md

metadata

title: Face Tracker
emoji: 👤
colorFrom: purple
colorTo: blue
sdk: static
pinned: false
short_description: Robot smoothly follows your face
tags:
  - reachy_mini
  - reachy_mini_python_app

Face Tracker 👤🤖

Detects faces via MediaPipe Face Detection and smoothly tracks the closest/largest face with the robot's head. Includes proximity-based emotional responses.

Features

• Smooth tracking: Proportional controller with exponential smoothing
• Largest face priority: Tracks the biggest (closest) face in frame
• Proximity emotions:
  • Close (large face) → Happy, antennas up
  • Medium distance → Mildly content
  • Far (small face) → Curious
  • No face → Lonely drift/scanning
• Natural movement: Smooth interpolation prevents jerky head motion
• Idle behavior: Gentle scanning when no face detected for ~1 second

How It Works

1. Captures frames from Reachy Mini's camera
2. Detects faces using MediaPipe Face Detection
3. Calculates face center offset from frame center
4. Maps offset to head yaw/pitch correction (proportional controller)
5. Smoothly interpolates toward target position
6. Adjusts antenna angle based on face proximity (emotion)

Requirements

• Camera connected to Reachy Mini
• mediapipe, opencv-python, numpy

Install & Run

pip install .
reachy-mini run face_tracker