# SGToolkit: An Interactive Gesture Authoring Toolkit for Embodied Conversational Agents

arXiv: https://arxiv.org/abs/2108.04636 · HTML: https://mlsanity.com/paper/2108.04636/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Aug 2021.

## Built on by (most cited first, 11 of 11)

- [ZeroEGGS: Zero-shot Example-based Gesture Generation from Speech](https://mlsanity.com/paper/2209.07556/) (2022)
- [A Comprehensive Review of Data-Driven Co-Speech Gesture Generation](https://mlsanity.com/paper/2301.05339/) (2023)
- [The GENEA Challenge 2022: A large evaluation of data-driven co-speech gesture generation](https://mlsanity.com/paper/2208.10441/) (2022)
- [Evaluating gesture generation in a large-scale open challenge: The GENEA Challenge 2022](https://mlsanity.com/paper/2303.08737/) (2023)
- [The GENEA Challenge 2023: A large scale evaluation of gesture generation models in monadic and dyadic settings](https://mlsanity.com/paper/2308.12646/) (2023)
- [The Effects of Embodiment and Personality Expression on Learning in LLM-based Educational Agents](https://mlsanity.com/paper/2407.10993/) (2024)
- [Co-Speech Gesture Synthesis using Discrete Gesture Token Learning](https://mlsanity.com/paper/2303.12822/) (2023)
- [GestureHYDRA: Semantic Co-speech Gesture Synthesis via Hybrid Modality Diffusion Transformer and Cascaded-Synchronized Retrieval-Augmented Generation](https://mlsanity.com/paper/2507.22731/) (2025)
- [GesGPT: Speech Gesture Synthesis With Text Parsing from ChatGPT](https://mlsanity.com/paper/2303.13013/) (2023)
- [Towards a GENEA Leaderboard -- an Extended, Living Benchmark for Evaluating and Advancing Conversational Motion Synthesis](https://mlsanity.com/paper/2410.06327/) (2024)
- [Conveying Meaning through Gestures: An Investigation into Semantic Co-Speech Gesture Generation](https://mlsanity.com/paper/2510.17599/) (2025)

## Abstract (arXiv)

Non-verbal behavior is essential for embodied agents like social robots, virtual avatars, and digital humans. Existing behavior authoring approaches including keyframe animation and motion capture are too expensive to use when there are numerous utterances requiring gestures. Automatic generation methods show promising results, but their output quality is not satisfactory yet, and it is hard to modify outputs as a gesture designer wants. We introduce a new gesture generation toolkit, named SGToolkit, which gives a higher quality output than automatic methods and is more efficient than manual authoring. For the toolkit, we propose a neural generative model that synthesizes gestures from speech and accommodates fine-level pose controls and coarse-level style controls from users. The user study with 24 participants showed that the toolkit is favorable over manual authoring, and the generated gestures were also human-like and appropriate to input speech. The SGToolkit is platform agnostic, and the code is available at https://github.com/ai4r/SGToolkit.