Co-policy: Responsive Human-Robot Co-Creation for Musical Performances
Art has long stood as a pivotal expression of human creativity. Embodied artificial intelligence offers a route for generative models to participate in that creativity through physical action rather than disembodied digital content. In robotic music co-creation, it is challenging to connect semantic musical understanding with real-time and physically executable performance. We present Co-policy, a framework for human-robot musical co-creation that separates semantic intent grounding, constrained musical variation, and visuomotor execution. To ground musical semantics, Co-policy uses pre-inference semantic anchors and a fine-tuned Qwen-vl planner (F-Qwen) to transform speech, live musical ...
| Authors | Xuetao Li, Wenke Huang, Mang Ye et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 June 2026 |
| Last updated at source | 18 June 2026 |
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