REALM: A Coarse-to-Fine Generative Framework for Embodied Reactive Listening

arXiv:2609.33095 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/lipzh5/REALM

Terminology

• Alignment — 25× in this paper · explained in 1 episode
• Ground Truth — 11× in this paper
• Calibration — 10× in this paper · explained in 7 episodes
• Refinement Module — 10× in this paper
• Grounding — 7× in this paper · explained in 3 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Fidelity — 6× in this paper · explained in 2 episodes
• Gated Fusion — 6× in this paper
• Over-smoothing — 6× in this paper · explained in 4 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Shifted Attention — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Frechet Distance — 3× in this paper
• Generative AI — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• AdamW Optimizer — 2× in this paper · explained in 1 episode
• Adaptive Weighting — 2× in this paper · explained in 1 episode
• Attention Mechanism — 2× in this paper · explained in 3 episodes
• Mean Opinion Score — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Affective Computing — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Reactive Embodied Audio-driven Listening Model — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• LivePortrait: Efficient Portrait Animation with Stitching and Retargeting Control
• X2C: A Large-Scale Benchmark for Nuanced Humanoid Facial Expression Imitation
• VividFace: Real-Time and Realistic Facial Expression Shadowing for Humanoid Robots

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