Rhythmic-Semantic Co-Speech Gestures for Emotional Dialogue in Robots
Overview
This paper introduces an emotion-aware system that generates both iconic and beat co-speech gestures in real time from text and the robot's internal emotional state. The authors formalize beat-iconic gesture generation using emotion, propose lightweight models to predict timing and intensity, and fill remaining spans with emotion-conditioned beats. Trained on the BEAT2 dataset and deployed on the social robot Haru, the system was evaluated in an online user study with 60 participants, showing stronger speech-gesture alignment and higher preference compared to baseline methods.
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- arXiv Robotics — research abstractsSignalRhythmic-Semantic Co-Speech Gestures for Emotional Dialogue in Robots
This paper introduces an emotion-aware system that generates both iconic and beat co-speech gestures in real time from text and the robot's internal emotional state. The authors formalize beat-iconic gesture generation using emotion, propose lightweight models to predict timing and intensity, and fill remaining spans with emotion-conditioned beats. Trained on the BEAT2 dataset and deployed on the social robot Haru, the system was evaluated in an online user study with 60 participants, showing stronger speech-gesture alignment and higher preference compared to baseline methods.
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