mlsanityData to 14 Oct 2026

Efficient Emotion-Aware Iconic Gesture Prediction for Robot Co-Speech

arXiv 2604.11417 ↗First posted 13 Apr 2026cs.RO cs.AIcited by 4

Not on the map. Why?

Abstract (arXiv)

Co-speech gestures increase engagement and improve speech understanding. Most data-driven robot systems generate rhythmic beat-like motion, yet few integrate semantic emphasis. To address this, we propose a lightweight transformer that derives iconic gesture placement and intensity from text and emotion alone, requiring no audio input at inference time. The model outperforms GPT-4o in both semantic gesture placement classification and intensity regression on the BEAT2 dataset, while remaining computationally compact and suitable for real-time deployment on embodied agents.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 20 of its 39 references that are in the map. First posted on arXiv 13 Apr 2026.

Builds on

20 of 39 references.

References · 20

  1. 2017Attention Is All You Needcited by 60,361
  2. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,399
  3. 2023GPT-4 Technical Reportcited by 18,396
  4. 2019Sentence-BERT: Sentence Embeddings using Siamese BERT-Networkscited by 9,170
  5. 2022BEAT: A Large-Scale Semantic and Emotional Multi-Modal Dataset for Conversational Gestures Synthesiscited by 178
  6. 2018Robots Learn Social Skills: End-to-End Learning of Co-Speech Gesture Generation for Humanoid Robotscited by 110
  7. 2023EMAGE: Towards Unified Holistic Co-Speech Gesture Generation via Expressive Masked Audio Gesture Modelingcited by 105
  8. 2023DiffuseStyleGesture: Stylized Audio-Driven Co-Speech Gesture Generation with Diffusion Modelscited by 85
  9. 2020Gesticulator: A framework for semantically-aware speech-driven gesture generationcited by 84
  10. 2023A Comprehensive Review of Data-Driven Co-Speech Gesture Generationcited by 66
  11. 2024SemTalk: Holistic Co-speech Motion Generation with Frame-level Semantic Emphasiscited by 32
  12. 2024Synthetic Thermal and RGB Videos for Automatic Pain Assessment utilizing a Vision-MLP Architecturecited by 12
8 more
  1. 2018Emo2Vec: Learning Generalized Emotion Representation by Multi-task Trainingcited by 11
  2. 2025Efficient Pain Recognition via Respiration Signals: A Single Cross-Attention Transformer Multi-Window Fusion Pipelinecited by 11
  3. 2023Meaning and understanding in large language modelscited by 5
  4. 2019A View on Edge caching Applicationscited by 4
  5. 2024Data Augmentation for 3DMM-based Arousal-Valence Prediction for HRIcited by 4
  6. 2023Speech-Gesture GAN: Gesture Generation for Robots and Embodied Agentscited by 2
  7. 2025SARGes: Semantically Aligned Reliable Gesture Generation via Intent Chaincited by 1
  8. 2025Co-Speech Gesture and Facial Expression Generation for Non-Photorealistic 3D Characterscited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 4.

4 papers.

  1. 2026Towards a Unified Modality-Agnostic Multimodal Framework for Cognitive Workload Assessmentcited by 5
  2. 2026One-Block Transformer (1BT) for EEG-Based Cognitive Workload Assessmentcited by 1
  3. 2026Efficient and Interpretable Body-Based Emotion Recognition with Lightweight Temporal Convolutional Networkscited by 1
  4. 2026MUPA2E: Multimodal Unified Perception with Asymmetric Attention for Emotion Assessmentcited by 0