5 papers
GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots
Bosong Ding, Xianglin Zhang, Miao Xin +2
Co-speech gestures for robots must adapt not only to speech and embodiment, but also to the workspace available for performing the motion. Since the same speech can be accompanied…
Co-Speech with You: Training-Free Personalization of Robot Co-Speech Gestures
Bosong Ding, Selma Ancel, Giacomo Spigler +1
Personal robots should adapt their co-speech gesture style to a new user without requiring model retraining. We present a training-free personalization pipeline that combines a fro…
TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning
Giacomo Spigler
Active vision -- where a policy controls its own gaze during manipulation -- has emerged as a key capability for imitation learning, with multiple independent systems demonstrating…
Learning secondary tool affordances of human partners using iCub robot's egocentric data
Bosong Ding, Erhan Oztop, Giacomo Spigler +1
Objects, in particular tools, provide several action possibilities to the agents that can act on them, which are generally associated with the term of affordances. A tool is typica…
Imitation of human motion achieves natural head movements for humanoid robots in an active-speaker detection task
Bosong Ding, Murat Kirtay, Giacomo Spigler
Head movements are crucial for social human-human interaction. They can transmit important cues (e.g., joint attention, speaker detection) that cannot be achieved with verbal inter…