CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video

Excerpt

arXiv:2610.05324v1 Announce Type: cross Abstract: Partnered human-humanoid interaction couples locomotion with continuous physical contact. A humanoid needs to coordinate with a person's motion while responding to interaction forces and maintaining stable and natural movement. We present CoDance, a framework for learning reactive and compliant human-humanoid interaction from video. We study partnered dancing as a challenging instantiation, where a humanoid coordinates its footsteps with a moving