Social Humanoid: Socially Responsive Human-Humanoid Interaction
Social Humanoid: Socially Responsive Human-Humanoid Interaction
This paper presents Social Humanoid, a hierarchical system that generates and executes socially responsive whole-body motion on a 29-DoF Unitree G1 humanoid conditioned on a human partner's motion.
The authors introduce a hierarchical system for socially responsive whole-body motion on a Unitree G1 humanoid, trained via adaptive retargeting across five motion-capture datasets to form a new benchmark of 260 hours of human-humanoid interactions.
Source: arXiv Robotics — research abstracts · Read original article ↗
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interaction partner to the robot while morphing the other partner to preserve contact dynamics, reachability, and relative body scale. We apply this procedure across five motion-capture datasets to produce a new Human-Humanoid Interaction (HHI) benchmark of 260 hours of human-humanoid interactions. Our results demonstrate that Social Humanoid produces coordinated, human-aligned behavior across diverse interaction typ
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interaction partner to the robot while morphing the other partner to preserve contact dynamics, reachability, and relative body scale. We apply this procedure across five motion-capture datasets to produce a new Human-Humanoid Interaction (HHI) benchmark of 260 hours of human-humanoid interactions. Our results demonstrate that Social Humanoid produces coordinated, human-aligned behavior across diverse interaction typ
Open source S4
arXiv:2611.08407v1 Announce Type: new Abstract: Humanoid robots are typically trained as solitary agents, leaving them unable to coordinate physically with human partners who naturally anticipate and adjust to one another. To bridge this gap, we present Social Humanoid, a hierarchical system that generates and executes socially responsive whole-body motion on a 29-DoF Unitree G1 conditioned on a human partner's motio
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Source：arXiv Robotics — research abstracts · arxiv.org