arXiv:2607. 14182v1 Announce Type: cross Abstract: Recent advances in humanoid robotics and reinforcement learning have enabled the acquisition of highly expressive whole-body motion policies.
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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...
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:2606. 31158v1 Announce Type: cross Abstract: The quest for intuitive and natural human-robot interaction (HRI) remains a significant challenge in robotics.
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:2606. 19914v1 Announce Type: cross Abstract: Art has long stood as a pivotal expression of human creativity.
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.