GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots
Co-speech gestures for robots must adapt not only to speech and embodiment, but also to the workspace available for performing the motion. Since the same speech can be accompanied by different gestures, a robot can respond to workspace constraints, e.g., gestures for speech next to a wall. In these scenarios, the robot should gesture in a suitable motion rather than simply correcting an unconstrained one. To achieve this goal, we present GestAdapt, a workspace-conditioned framework that conditions co-speech gesture generation on a prescribed wrist workspace. The GestAdapt framework learns from six complementary co-speech corpora through a shared motion representation and supports retarget...
| Authors | Bosong Ding, Xianglin Zhang, Miao Xin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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