cs.CVApr 8, 2026

Auditing Demographic Bias in Facial Landmark Detection for Fair Human-Robot Interaction

Authors: Pablo Parte, Roberto Valle, José M. Buenaposada, Luis Baumela

Organizations: Departamento de Inteligencia Artificial, Universidad Politécnica de Madrid, Spain · Departamento de Informática y Estadística, Universidad Rey Juan Carlos, Spain

Abstract

Fairness in human-robot interaction critically depends on the reliability of the perceptual models that enable robots to interpret human behavior. While demographic biases have been widely studied in high-level facial analysis tasks, their presence in facial landmark detection remains unexplored. In this paper, we conduct a systematic audit of demographic bias in this task, analyzing the age, gender, and race biases. To this end, we introduce a controlled statistical methodology to disentangle demographic effects from confounding visual factors. Our analysis demonstrates that visual confounders, particularly head pose and face resolution, heavily outweigh the impact of demographic attributes. Notably, after accounting for these confounders, performance disparities across gender and race vanish. However, we identify a statistically significant age-related bias, with higher localization errors for older individuals. This shows that fairness issues can emerge even in low-level vision components and can propagate through the HRI pipeline. We argue that auditing and correcting such biases is a necessary step toward trustworthy and equitable robot perception systems.

Figures & tables

Explore similar work

CardsList
  1. Beyond Performance Disparities: A Three-Level Audit of Representational Harm in CelebA

    May 14, 2026Sieun Park, Yuanmo HeAlgorithmic Fairness

  2. Identifying Ethical Biases in Action Recognition Models

    Apr 20, 2026Ana Baltaretu, Pascal Benschop, Jan van GemertHuman Activity RecognitionAlgorithmic Fairness

  3. Bias Mitigation in Face Recognition via Demographic-based Supervised Contrastive Learning

    Aug 13, 2026Yu Linghu, Salman Mohammad, Xinyi Zhang +1Algorithmic FairnessGroup Fairness