# A Comprehensive Review of Data-Driven Co-Speech Gesture Generation

arXiv: https://arxiv.org/abs/2301.05339 · HTML: https://mlsanity.com/paper/2301.05339/

## Key facts

- Cited by 66 papers in the map (data through 14 Oct 2026).
- Builds on 69 of its 240 references that are in the map.
- First posted on arXiv 13 Jan 2023.

## Builds on (most cited first, 30 of 69)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Neural Machine Translation by Jointly Learning to Align and Translate](https://mlsanity.com/paper/1409.0473/) (2014)
- [Efficient Estimation of Word Representations in Vector Space](https://mlsanity.com/paper/1301.3781/) (2013)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [Generative Modeling by Estimating Gradients of the Data Distribution](https://mlsanity.com/paper/1907.05600/) (2019)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Auto-Encoding Variational Bayes](https://mlsanity.com/paper/1312.6114/) (2013)
- [Analyzing and Improving the Image Quality of StyleGAN](https://mlsanity.com/paper/1912.04958/) (2019)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [WaveNet: A Generative Model for Raw Audio](https://mlsanity.com/paper/1609.03499/) (2016)
- [Enriching Word Vectors with Subword Information](https://mlsanity.com/paper/1607.04606/) (2016)
- [Normalizing Flows for Probabilistic Modeling and Inference](https://mlsanity.com/paper/1912.02762/) (2019)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [Human Motion Diffusion Model](https://mlsanity.com/paper/2209.14916/) (2022)
- [Face2Face: Real-time Face Capture and Reenactment of RGB Videos](https://mlsanity.com/paper/2007.14808/) (2020)
- [Tacotron: Towards End-to-End Speech Synthesis](https://mlsanity.com/paper/1703.10135/) (2017)
- [A Neural Algorithm of Artistic Style](https://mlsanity.com/paper/1508.06576/) (2015)
- [One-Shot Free-View Neural Talking-Head Synthesis for Video Conferencing](https://mlsanity.com/paper/2011.15126/) (2020)
- [Style Tokens: Unsupervised Style Modeling, Control and Transfer in End-to-End Speech Synthesis](https://mlsanity.com/paper/1803.09017/) (2018)
- [Speech Gesture Generation from the Trimodal Context of Text, Audio, and Speaker Identity](https://mlsanity.com/paper/2009.02119/) (2020)
- [Learning Individual Styles of Conversational Gesture](https://mlsanity.com/paper/1906.04160/) (2019)
- [Character Controllers Using Motion VAEs](https://mlsanity.com/paper/2103.14274/) (2021)
- [A Survey on Neural Speech Synthesis](https://mlsanity.com/paper/2106.15561/) (2021)

## Built on by (most cited first, 30 of 66)

- [GestureDiffuCLIP: Gesture Diffusion Model with CLIP Latents](https://mlsanity.com/paper/2303.14613/) (2023)
- [DiffuseStyleGesture: Stylized Audio-Driven Co-Speech Gesture Generation with Diffusion Models](https://mlsanity.com/paper/2305.04919/) (2023)
- [MambaTalk: Efficient Holistic Gesture Synthesis with Selective State Space Models](https://mlsanity.com/paper/2403.09471/) (2024)
- [ConvoFusion: Multi-Modal Conversational Diffusion for Co-Speech Gesture Synthesis](https://mlsanity.com/paper/2403.17936/) (2024)
- [QPGesture: Quantization-Based and Phase-Guided Motion Matching for Natural Speech-Driven Gesture Generation](https://mlsanity.com/paper/2305.11094/) (2023)
- [Emotional Speech-driven 3D Body Animation via Disentangled Latent Diffusion](https://mlsanity.com/paper/2312.04466/) (2023)
- [TANGO: Co-Speech Gesture Video Reenactment with Hierarchical Audio Motion Embedding and Diffusion Interpolation](https://mlsanity.com/paper/2410.04221/) (2024)
- [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)
- [Diffusion-Based Co-Speech Gesture Generation Using Joint Text and Audio Representation](https://mlsanity.com/paper/2309.05455/) (2023)
- [Retrieving Semantics from the Deep: an RAG Solution for Gesture Synthesis](https://mlsanity.com/paper/2412.06786/) (2024)
- [Chain of Generation: Multi-Modal Gesture Synthesis via Cascaded Conditional Control](https://mlsanity.com/paper/2312.15900/) (2023)
- [Freetalker: Controllable Speech and Text-Driven Gesture Generation Based on Diffusion Models for Enhanced Speaker Naturalness](https://mlsanity.com/paper/2401.03476/) (2024)
- [SemGes: Semantics-aware Co-Speech Gesture Generation using Semantic Coherence and Relevance Learning](https://mlsanity.com/paper/2507.19359/) (2025)
- [UnifiedGesture: A Unified Gesture Synthesis Model for Multiple Skeletons](https://mlsanity.com/paper/2309.07051/) (2023)
- [The DiffuseStyleGesture+ entry to the GENEA Challenge 2023](https://mlsanity.com/paper/2308.13879/) (2023)
- [Diff-TTSG: Denoising probabilistic integrated speech and gesture synthesis](https://mlsanity.com/paper/2306.09417/) (2023)
- [The Effects of Embodiment and Personality Expression on Learning in LLM-based Educational Agents](https://mlsanity.com/paper/2407.10993/) (2024)
- [AQ-GT: a Temporally Aligned and Quantized GRU-Transformer for Co-Speech Gesture Synthesis](https://mlsanity.com/paper/2305.01241/) (2023)
- [Social Agent: Mastering Dyadic Nonverbal Behavior Generation via Conversational LLM Agents](https://mlsanity.com/paper/2510.04637/) (2025)
- [A Review of Human Emotion Synthesis Based on Generative Technology](https://mlsanity.com/paper/2412.07116/) (2024)
- [GesGPT: Speech Gesture Synthesis With Text Parsing from ChatGPT](https://mlsanity.com/paper/2303.13013/) (2023)
- [Unified speech and gesture synthesis using flow matching](https://mlsanity.com/paper/2310.05181/) (2023)
- [Large language models in textual analysis for gesture selection](https://mlsanity.com/paper/2310.13705/) (2023)
- [HOP: Heterogeneous Topology-based Multimodal Entanglement for Co-Speech Gesture Generation](https://mlsanity.com/paper/2503.01175/) (2025)
- [Towards the generation of synchronized and believable non-verbal facial behaviors of a talking virtual agent](https://mlsanity.com/paper/2311.12804/) (2023)
- [Fake it to make it: Using synthetic data to remedy the data shortage in joint multimodal speech-and-gesture synthesis](https://mlsanity.com/paper/2404.19622/) (2024)
- [LLM Gesticulator: Leveraging Large Language Models for Scalable and Controllable Co-Speech Gesture Synthesis](https://mlsanity.com/paper/2410.10851/) (2024)
- [Learning Co-Speech Gesture Representations in Dialogue through Contrastive Learning: An Intrinsic Evaluation](https://mlsanity.com/paper/2409.10535/) (2024)
- [Beyond the Sum: Unlocking AI Agents Potential Through Market Forces](https://mlsanity.com/paper/2501.10388/) (2024)

## Abstract (arXiv)

Gestures that accompany speech are an essential part of natural and efficient embodied human communication. The automatic generation of such co-speech gestures is a long-standing problem in computer animation and is considered an enabling technology in film, games, virtual social spaces, and for interaction with social robots. The problem is made challenging by the idiosyncratic and non-periodic nature of human co-speech gesture motion, and by the great diversity of communicative functions that gestures encompass. Gesture generation has seen surging interest recently, owing to the emergence of more and larger datasets of human gesture motion, combined with strides in deep-learning-based generative models, that benefit from the growing availability of data. This review article summarizes co-speech gesture generation research, with a particular focus on deep generative models. First, we articulate the theory describing human gesticulation and how it complements speech. Next, we briefly discuss rule-based and classical statistical gesture synthesis, before delving into deep learning approaches. We employ the choice of input modalities as an organizing principle, examining systems that generate gestures from audio, text, and non-linguistic input. We also chronicle the evolution of the related training data sets in terms of size, diversity, motion quality, and collection method. Finally, we identify key research challenges in gesture generation, including data availability and quality; producing human-like motion; grounding the gesture in the co-occurring speech in interaction with other speakers, and in the environment; performing gesture evaluation; and integration of gesture synthesis into applications. We highlight recent approaches to tackling the various key challenges, as well as the limitations of these approaches, and point toward areas of future development.