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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.11417 |
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| _version_ | 1866917508882104320 |
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| author | Montiel-Vazquez, Edwin C. Cruz, Christian Arzate Gkikas, Stefanos Kassiotis, Thomas Giannakakis, Giorgos Gomez, Randy |
| author_facet | Montiel-Vazquez, Edwin C. Cruz, Christian Arzate Gkikas, Stefanos Kassiotis, Thomas Giannakakis, Giorgos Gomez, Randy |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_11417 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Efficient Emotion-Aware Iconic Gesture Prediction for Robot Co-Speech Montiel-Vazquez, Edwin C. Cruz, Christian Arzate Gkikas, Stefanos Kassiotis, Thomas Giannakakis, Giorgos Gomez, Randy Robotics Artificial Intelligence 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. |
| title | Efficient Emotion-Aware Iconic Gesture Prediction for Robot Co-Speech |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2604.11417 |