The paper introduces a pipeline that combines generated video and audio to produce force-aware manipulation trajectories for a Franka Panda robot. By using the loudness of contact sounds to shape a bounded, time-varying desired-force profile, the system can execute tasks that require precise contact forces, outperforming kinematic-only baselines. The approach also serves as a data generation engine for training closed-loop policies.
By Guanhua Ji, Tianyu Li, Dayoon Suh, Yuqian Zhang, Boyan Zhang, Nadia Figueroa
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...
By Zifan Wang, Ziang Ren, Pengyang Shi, Zirui Wang, Chenghuai Lin, Tianze Wang, Zekun Qi, Liangliang Zhao, He Wang, Li Yi
arXiv:2604.09057v3 Announce Type: replace
Abstract: Audio-video (AV) generation has recently made strong progress in perceptual quality and multimodal coherence, yet generating content with plausible...
By Junchao Liao, Zhenghao Zhang, Xiangyu Meng, Litao Li, Ziying Zhang, Siyu Zhu, Long Qin, Weizhi Wang
arXiv:2609.38172v1 Announce Type: cross
Abstract: Teaching humanoids loco-manipulation skills, such as carrying diverse objects, via visual imitation is a promising path toward generalist robots. How...
By Zihan Wang, Zhen Wu, Pieter Abbeel, Rocky Duan, Jitendra Malik, Carmelo Sferrazza, C. Karen Liu, Guanya Shi, Angjoo Kanazawa
World models offer a promising route toward robot planning by enabling agents to imagine and verify the consequences of actions before execution. However, current video-based world models often struggle to capture the physical constraints that govern manipulation, particularly contact.
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."
By Yizhao Li, Pusen Gao, Ming Wang, Shaojie Shen, Shuo Yang, Hao Xu
Generalizable robot manipulation requires policies that can anticipate how visual scenes evolve while executing language instructions. While recent Vision-Language-Action models benefit from large-scale pretraining, their predominantly static pretraining objectives provide limited supervision for physical dynamics and temporal causality, leaving control-relevant knowledge to be learned from downstream robot demonstrations.
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...
By Lalit Jayanti, Kashu Yamazaki, Yuto Shibata, Kotaro Amaya, Katerina Fragkiadaki
arXiv:2603.16086v2 Announce Type: replace-cross
Abstract: While recent Vision-Language-Action (VLA) models have begun to incorporate audio, they typically treat sound as static pre-execution prompts...
By Chang Nie, Tianchen Deng, Guangming Wang, Zhe Liu, Hesheng Wang
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...
Zero-WAM introduces a causal video-action model that enables robots to perform unseen manipulation tasks by following in-context human video guidance. The authors create HumanGen, a dataset of 74.2K human-robot ICL pairs across 8.6K tasks, and propose an in-context future chunk prediction objective to prevent shortcut learning. In simulation, Zero-WAM attains a 47.0% success rate on seven unseen tasks, outperforming the best video-action baseline by 29.5 percentage points, and demonstrates real‑world generalization to complex, long‑horizon, and fine‑grained tasks.
By Jiaming Zhou, Qihang Zhang, Gangwei Xu, Cunxin Fan, Yujie Zhao, Ruilin Wang, Yiming Luo, Shuai Yang, Xing Zhu, Yujun Shen, Junwei Liang, Yinghao Xu
Zero-shot cross-task generalization, where a policy must execute manipulation tasks never seen during training, remains a central challenge in robot learning. In large language models, a novel task ca...