Towards Context-Aware Human-like Pointing Gestures with RL Motion Imitation
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866911157551366144 |
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| author | Deichler, Anna Wang, Siyang Alexanderson, Simon Beskow, Jonas |
| author_facet | Deichler, Anna Wang, Siyang Alexanderson, Simon Beskow, Jonas |
| contents | Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial targets. Using reinforcement learning with motion imitation, we train policies that reproduce human-like pointing while maximizing precision. Results show our approach enables context-aware pointing behaviors in simulation, balancing task performance with natural dynamics. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2509_12880 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards Context-Aware Human-like Pointing Gestures with RL Motion Imitation Deichler, Anna Wang, Siyang Alexanderson, Simon Beskow, Jonas Robotics Human-Computer Interaction Machine Learning 68T05, 68T40 I.2.9; I.2.6; H.5.2 Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial targets. Using reinforcement learning with motion imitation, we train policies that reproduce human-like pointing while maximizing precision. Results show our approach enables context-aware pointing behaviors in simulation, balancing task performance with natural dynamics. |
| title | Towards Context-Aware Human-like Pointing Gestures with RL Motion Imitation |
| topic | Robotics Human-Computer Interaction Machine Learning 68T05, 68T40 I.2.9; I.2.6; H.5.2 |
| url | https://arxiv.org/abs/2509.12880 |