AHEADance: Anticipatory Humanoid Dance from Streaming Audio
Overview
This research introduces AHEADance, a system enabling humanoids to dance in sync with streamed music by combining real-time audio input with predictive forecasts of upcoming beats. The method uses ListenAhead to condition motion chunks on heard and predicted music, and Commit Forcing to ensure smooth continuation from previously committed movements. Evaluated on a physical Unitree G1 robot, the system successfully dances to live music and stops safely when the music ends without falling. Three independent evaluators validated synchronization, song adherence, and style consistency against real human dance data.
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Reported quantity · music evaluators: 3 other · Basis not reported
“e decoded boundary of the next chunk; it reduces low activity from 83.5% to 10.3%, the level of real dance. Three music evaluators, each validated on real G1 dance, test synchronization, song and style. On a physical Unitree G1, it dances while the music plays and comes to rest when it stops, without a fall. Project page: https://ihcr.github.io/AHEADance”
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- arXiv Robotics — research abstractsSignalAHEADance: Anticipatory Humanoid Dance from Streaming Audio
This research introduces AHEADance, a system enabling humanoids to dance in sync with streamed music by combining real-time audio input with predictive forecasts of upcoming beats. The method uses ListenAhead to condition motion chunks on heard and predicted music, and Commit Forcing to ensure smooth continuation from previously committed movements. Evaluated on a physical Unitree G1 robot, the system successfully dances to live music and stops safely when the music ends without falling. Three independent evaluators validated synchronization, song adherence, and style consistency against real human dance data.
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