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Second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and facial expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validated the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, nonverbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice\u2014about 290 kilometers away\u2014thus allowing the operator to visit the Italian art exhibition remotely. Second, we evaluated the optimized architecture for recipient physical collaboration and public engagement on stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operated in Rimini\u2014about 300 kilometers away\u2014interacting with a recipient who entrusted the avatar with a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the All Nippon Airways (ANA) Avatar XPrize competition.<\/jats:p>","DOI":"10.1126\/scirobotics.adh3834","type":"journal-article","created":{"date-parts":[[2024,1,24]],"date-time":"2024-01-24T18:58:56Z","timestamp":1706122736000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":59,"title":["iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1575-5188","authenticated-orcid":true,"given":"Stefano","family":"Dafarra","sequence":"first","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8754-1632","authenticated-orcid":true,"given":"Ugo","family":"Pattacini","sequence":"additional","affiliation":[{"name":"iCub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6461-3231","authenticated-orcid":true,"given":"Giulio","family":"Romualdi","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3071-9676","authenticated-orcid":true,"given":"Lorenzo","family":"Rapetti","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"given":"Riccardo","family":"Grieco","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4984-432X","authenticated-orcid":true,"given":"Kourosh","family":"Darvish","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"given":"Gianluca","family":"Milani","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0126-453X","authenticated-orcid":true,"given":"Enrico","family":"Valli","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"given":"Ines","family":"Sorrentino","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."},{"name":"School of Computer Science, University of Manchester, Manchester, UK."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6903-4458","authenticated-orcid":true,"given":"Paolo Maria","family":"Viceconte","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."},{"name":"Department of Computer, Control, and Management Engineering, Sapienza Universit\u00e0 di Roma, Rome, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-9553-8706","authenticated-orcid":true,"given":"Alessandro","family":"Scalzo","sequence":"additional","affiliation":[{"name":"iCub Tech Facility, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9283-6133","authenticated-orcid":true,"given":"Silvio","family":"Traversaro","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1759-0089","authenticated-orcid":true,"given":"Carlotta","family":"Sartore","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy."},{"name":"School of Computer Science, University of Manchester, Manchester, 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