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audio-driven interaction 1humanoid control 1multi-modal perception 1reinforcement learning 1sim-to-real transfer 1

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cs.RO2026

Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control

J. M. A. Marcelo, M. Brienza, E. Bugli +4

The paper presents a framework that enables a humanoid robot to autonomously select and execute whole‑body motion skills in real time based on continuous audio input, using music f…