GestAdapt is a framework that generates co‑speech gestures conditioned on a specified wrist workspace, allowing humanoid robots to adapt their motions to environmental constraints such as walls. The system learns from six co‑speech corpora using a shared motion representation and can be retargeted to different robot embodiments. Experiments show that GestAdapt’s motions stay close to real‑motion distributions, achieve higher quality scores than a no‑workspace baseline, and outperform other methods in real‑robot evaluations on the Reachy2 humanoid.
arXiv:2608.28693v1 Announce Type: cross Abstract: Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fundamental to natural human-robot inte...
arXiv:2606. 19935v1 Announce Type: new Abstract: Humanoid robots require co-speech motions that are not only expressive and speech-aligned, but also physically executable under embodiment constraints.
arXiv:2606. 18747v1 Announce Type: cross Abstract: Expressive gestures are essential for natural and effective communication, complementing speech when verbal cues alone are insufficient (e.
ECHO-G is a framework for generating full‑body co‑speech motion for humanoid robots, jointly conditioned on speech audio and timed transcripts. Its Speech‑Grounded Diffusion Transformer (SGDiT) fuses frame‑aligned acoustic features with token‑level linguistic context, preserving distinct granularities while modeling one‑to‑many utterance‑motion relationships directly in robot space. The authors introduce a BEAT2‑derived audio‑text‑robot dataset, a benchmark for co‑speech characteristics, robot‑motion quality, and runtime efficiency, and demonstrate that direct robot‑space generation outperforms human‑motion generation and retargeting pipelines, with joint audio‑text conditioning yielding superior results in both quantitative evaluation and a video‑rating study. "whyItMatters":"The study provides a new dataset, benchmark, and a demonstrably effective method for generating realistic co‑speech motion directly in robot space, advancing practical humanoid robot interaction."
arXiv:2609.22611v1 Announce Type: cross Abstract: Humanoid robots can acquire complex skills by imitating kinematic humanoid motion references, yet reliable references for contact-rich interactions r...
arXiv:2603.19305v3 Announce Type: replace-cross Abstract: Humanoid robots are expected to execute agile and expressive whole-body motions in real-world settings. Existing text-to-motion generation mo...
Generating full-body co-speech motion for humanoid robots requires coordinating speech prosody, linguistic content, and embodiment-specific motion. To this end, we present ECHO-G, a framework jointly...
arXiv:2507. 19684v2 Announce Type: replace-cross Abstract: Socially interactive humanoid robots must engage with humans through their bodies, adapting in real time to a partner's movement, intent, and abilities.
arXiv:2609.00369v1 Announce Type: new Abstract: Generating co-speech gestures that are temporally coherent, semantically aligned with speech, and grounded with surrounding objects remains challenging...
Motion-Omni is an end‑to‑end framework that jointly generates spoken dialogue and full‑body motion, producing speech, facial expressions, and hand, upper‑body, and lower‑body movements directly from the hidden states of a language model. The system requires joint training of the language model, speech generator, and motion generator to maintain audio‑motion alignment, and it is supervised using a scalable, model‑agnostic pipeline that pseudo‑labels 422,856 speech‑motion pairs. With a Qwen2.5‑7B‑Instruct backbone, Motion‑Omni‑Q7 achieves near‑cascade performance on motion metrics while being 5.4× faster, and it outperforms other non‑teacher cascades on beat correlation, diversity, and word error rate.
The paper introduces a real‑time framework for generating co‑speech gestures for digital humans, coupling a streaming speech response module with a causal multimodal autoregressive gesture generator that uses only current speech and motion history. It also presents an offline data synthesis pipeline for virtual companion dialogues and a self‑evolving training loop that incorporates user feedback to continually adapt the model. Experiments show the system achieves a better latency‑quality trade‑off, stronger speech‑motion synchronization, and higher user preference than existing baselines.
InteractGesture is a model‑agnostic, inference‑time method that enables fine‑grained spatial control of individual joints in continuous streaming co‑speech gesture generation. It guides diffusion sampler latent estimates through a differentiable RVQ‑VAE decoder, backpropagating spatial control gradients to adjust motion latents during sampling. To address chunk‑wise dependency issues in streaming generation, the method introduces Progressive Chunk Guidance, a chunk‑window strategy that keeps an active set of editable chunk latents with staggered delays, allowing spatial constraints to propagate gradients backward across chunk boundaries and reducing boundary inconsistencies.