SocialHumanoid: Towards Expressive Humanoid Behavior via One-Step Co-Speech Motion Generation

arXiv:2609.33311 · cs.RO, cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Actor — 19× in this paper · explained in 3 episodes
• Computer Vision and Pattern Recognition — 13× in this paper
• Alignment — 9× in this paper · explained in 1 episode
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• Embeddings — 5× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Latent Space — 4× in this paper · explained in 7 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Beat Consistency — 3× in this paper
• Benchmark — 3× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Frechet Gesture Distance — 3× in this paper
• General Motion Retargeting — 3× in this paper
• International Conference on Computer Vision — 3× in this paper
• Quantization — 3× in this paper · explained in 12 episodes
• ACM Transactions on Graphics — 2× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Diffusion Models — 2× in this paper · explained in 6 episodes
• European Conference on Computer Vision — 2× in this paper
• Flow Matching — 2× in this paper · explained in 8 episodes
• Latent Representation — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Personalization — 1× in this paper · explained in 2 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• ProAct: A Dual-System Framework for Proactive Embodied Social Agents
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
• SemConFlow: Semantic Grounding of Holistic Co-Speech Gesture Generation with Contrastive Flow-Matching
• SentiAvatar: Towards Expressive and Interactive Digital Humans
• PersonaGesture: Single-Reference Co-Speech Gesture Personalization for Unseen Speakers
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
• PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation
• Qwen3 Technical Report
• DeepSeek-V4: Towards Highly Efficient Million-Token Context Intelligence
• OpenAI GPT-5 System Card
• Qwen3-TTS Technical Report
• Embody 3D: A Large-scale Multimodal Motion and Behavior Dataset

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