CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video
Partnered human-humanoid interaction couples locomotion with continuous physical contact. A humanoid needs to coordinate with a person's motion while responding to interaction forces and maintaining stable and natural movement. We present CoDance, a framework for learning reactive and compliant human-humanoid interaction from video. We study partnered dancing as a challenging instantiation, where a humanoid coordinates its footsteps with a moving partner and maintains continuous two-hand contact. Given a single video of two human dancers, CoDance retargets their motions into a robot reference and a moving partner. We introduce a multi-link compliance augmentation that transforms the kinem...
| Authors | Zhuoqun Chen, Shucheng Jia, Boyuan Chen |
|---|---|
| Primary category | cs.RO |
| Published | 4 October 2026 |
| Last updated at source | 4 October 2026 |
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