EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

arXiv:2609.14432 · cs.RO · Submitted 2026-09-13 · Read on arXiv

cs.RO

Submitted: 2026-09-13

Updated: 2026-09-20

Project page: https://jtthhhh.github.io/Emog-web

Terminology

• Consistency — 7× in this paper · explained in 3 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Ablation — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes

Sources

• Toward Embodied AGI: A Review of Embodied AI and the Road Ahead
• A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
• Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
• BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
• Learning human behaviors from motion capture by adversarial imitation
• A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Track Any Motions under Any Disturbances
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
• LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
• SMooDi: Stylized Motion Diffusion Model
• MotionGPT3: Human Motion as a Second Modality
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking

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