GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots

Excerpt

arXiv:2609.38400v1 Announce Type: cross Abstract: Co-speech gestures for robots must adapt not only to speech and embodiment, but also to the workspace available for performing the motion. Since the same speech can be accompanied by different gestures, a robot can respond to workspace constraints, e.g., gestures for speech next to a wall. In these scenarios, the robot should gesture in a suitable motion rather than simply correcting an unconstrained one. To achieve this goal, we present GestAdap