MIRA: Real-Time Full-Duplex Human-Robot Interaction for Embodied Companions

arXiv:2609.24547 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-22

Code: https://github.com/snakers4/silero-vad

Project page: https://gagajian.github.io/MIRA

Terminology

• Arbiter — 14× in this paper · explained in 1 episode
• Transformer — 10× in this paper · explained in 2 episodes
• Alignment — 8× in this paper · explained in 1 episode
• Diffusion Model — 5× in this paper · explained in 8 episodes
• ACM Transactions on Graphics — 4× in this paper
• Consistency — 4× in this paper · explained in 3 episodes
• International Conference on Computer Vision — 4× in this paper
• Trace — 4× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Embeddings — 3× in this paper · explained in 2 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Receding-Horizon Prefix Commitment — 3× in this paper
• Affective Computing — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Audio Interaction Model — 2× in this paper
• Benchmark — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Full-duplex interaction — 2× in this paper · explained in 2 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Ground Truth — 2× in this paper
• Unified Framework — 2× in this paper · explained in 5 episodes
• Beat Consistency — 1× in this paper
• Causal Inference — 1× in this paper · explained in 4 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Process — 1× in this paper · explained in 2 episodes
• Emission Real-Time Factor — 1× in this paper
• Exposure Bias — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Geometric Distribution — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• In European Conference on Computer Vision — 1× in this paper
• Modular Architecture — 1× in this paper · explained in 4 episodes
• Multi-modal Inputs — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
• PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation
• Audio Interaction Model
• ProAct: A Dual-System Framework for Proactive Embodied Social Agents

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