# Robots Learn Social Skills: End-to-End Learning of Co-Speech Gesture Generation for Humanoid Robots

arXiv: https://arxiv.org/abs/1810.12541 · HTML: https://mlsanity.com/paper/1810.12541/

## Key facts

- Cited by 110 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Oct 2018.

## Built on by (most cited first, 30 of 110)

- [Generating Holistic 3D Human Motion from Speech](https://mlsanity.com/paper/2212.04420/) (2022)
- [BEAT: A Large-Scale Semantic and Emotional Multi-Modal Dataset for Conversational Gestures Synthesis](https://mlsanity.com/paper/2203.05297/) (2022)
- [GestureDiffuCLIP: Gesture Diffusion Model with CLIP Latents](https://mlsanity.com/paper/2303.14613/) (2023)
- [One-Stage 3D Whole-Body Mesh Recovery with Component Aware Transformer](https://mlsanity.com/paper/2303.16160/) (2023)
- [Taming Diffusion Models for Audio-Driven Co-Speech Gesture Generation](https://mlsanity.com/paper/2303.09119/) (2023)
- [Learning Hierarchical Cross-Modal Association for Co-Speech Gesture Generation](https://mlsanity.com/paper/2203.13161/) (2022)
- [EMAGE: Towards Unified Holistic Co-Speech Gesture Generation via Expressive Masked Audio Gesture Modeling](https://mlsanity.com/paper/2401.00374/) (2023)
- [Learning Speech-driven 3D Conversational Gestures from Video](https://mlsanity.com/paper/2102.06837/) (2021)
- [Human Motion Generation: A Survey](https://mlsanity.com/paper/2307.10894/) (2023)
- [DiffuseStyleGesture: Stylized Audio-Driven Co-Speech Gesture Generation with Diffusion Models](https://mlsanity.com/paper/2305.04919/) (2023)
- [PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interaction](https://mlsanity.com/paper/2312.04393/) (2023)
- [A Comprehensive Review of Data-Driven Co-Speech Gesture Generation](https://mlsanity.com/paper/2301.05339/) (2023)
- [Large Motion Model for Unified Multi-Modal Motion Generation](https://mlsanity.com/paper/2404.01284/) (2024)
- [ReMoS: 3D Motion-Conditioned Reaction Synthesis for Two-Person Interactions](https://mlsanity.com/paper/2311.17057/) (2023)
- [DiffSHEG: A Diffusion-Based Approach for Real-Time Speech-driven Holistic 3D Expression and Gesture Generation](https://mlsanity.com/paper/2401.04747/) (2024)
- [Speech2AffectiveGestures: Synthesizing Co-Speech Gestures with Generative Adversarial Affective Expression Learning](https://mlsanity.com/paper/2108.00262/) (2021)
- [Speech Drives Templates: Co-Speech Gesture Synthesis with Learned Templates](https://mlsanity.com/paper/2108.08020/) (2021)
- [Audio-Driven Co-Speech Gesture Video Generation](https://mlsanity.com/paper/2212.02350/) (2022)
- [MambaTalk: Efficient Holistic Gesture Synthesis with Selective State Space Models](https://mlsanity.com/paper/2403.09471/) (2024)
- [Learning in Audio-visual Context: A Review, Analysis, and New Perspective](https://mlsanity.com/paper/2208.09579/) (2022)
- [CLIP-Actor: Text-Driven Recommendation and Stylization for Animating Human Meshes](https://mlsanity.com/paper/2206.04382/) (2022)
- [ConvoFusion: Multi-Modal Conversational Diffusion for Co-Speech Gesture Synthesis](https://mlsanity.com/paper/2403.17936/) (2024)
- [The GENEA Challenge 2022: A large evaluation of data-driven co-speech gesture generation](https://mlsanity.com/paper/2208.10441/) (2022)
- [QPGesture: Quantization-Based and Phase-Guided Motion Matching for Natural Speech-Driven Gesture Generation](https://mlsanity.com/paper/2305.11094/) (2023)
- [EmotionGesture: Audio-Driven Diverse Emotional Co-Speech 3D Gesture Generation](https://mlsanity.com/paper/2305.18891/) (2023)
- [Emotional Speech-driven 3D Body Animation via Disentangled Latent Diffusion](https://mlsanity.com/paper/2312.04466/) (2023)
- [Rhythmic Gesticulator: Rhythm-Aware Co-Speech Gesture Synthesis with Hierarchical Neural Embeddings](https://mlsanity.com/paper/2210.01448/) (2022)
- [Co-Speech Gesture Video Generation via Motion-Decoupled Diffusion Model](https://mlsanity.com/paper/2404.01862/) (2024)
- [SemTalk: Holistic Co-speech Motion Generation with Frame-level Semantic Emphasis](https://mlsanity.com/paper/2412.16563/) (2024)
- [Evaluating gesture generation in a large-scale open challenge: The GENEA Challenge 2022](https://mlsanity.com/paper/2303.08737/) (2023)

## Abstract (arXiv)

Co-speech gestures enhance interaction experiences between humans as well as between humans and robots. Existing robots use rule-based speech-gesture association, but this requires human labor and prior knowledge of experts to be implemented. We present a learning-based co-speech gesture generation that is learned from 52 h of TED talks. The proposed end-to-end neural network model consists of an encoder for speech text understanding and a decoder to generate a sequence of gestures. The model successfully produces various gestures including iconic, metaphoric, deictic, and beat gestures. In a subjective evaluation, participants reported that the gestures were human-like and matched the speech content. We also demonstrate a co-speech gesture with a NAO robot working in real time.