PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots

Emotional body motion expressions are an essential element of non-verbal communication. Effectively conveying these expressions through technology is of utmost importance, for example, with virtual reality avatars and in social robotics. Recent advances in generative models have opened new opportunities for advancing research on emotional body motion learning. However, generating accurate emotional expression representations is challenging, given the subtlety of emotional cues, individual variability, and cultural differences. We investigate whether a generative model can implicitly learn emotional body motions directly from culturally grounded motion-capture data, without explicit emotion-motion guidance. Using a dataset of emotional performances by 49 Japanese actors, we trained a Transformer-based generative model to generate expressive motions conditioned on 13 discrete emotion labels. We evaluate the generated motions from two perspectives: (1) an LSTM-based classifier to assess recognizability by machine observers, achieving a recognition accuracy of 22.80%, and (2) a human perception study with Japanese raters to assess alignment with human affective interpretations, yielding a recognition accuracy of 24.91%. Beyond these, we evaluate the utility of generative modeling for three practical tasks: augmenting emotion recognition models, extracting representative emotion-specific motion patterns, and synthesizing smooth transitions between emotion intensities. Our findings highlight the potential of implicit, data-driven generative modeling to enhance affective computing applications and our understanding of emotion expressions.

Socially competent humanoid robots must communicate affect and intent through gesture as well as speech, yet open-ended interaction must become motion that is both expressive and executable on a specific body. This demands semantic flexibility for contextual social intent while preserving deterministic, embodiment-aware robot control. We present EmoPose, a vision-language model (VLM)-guided framework that bridges this gap through an executable semantic interface. Given language, dialogue history, and optional visual context, the VLM selects an ordered gesture plan containing a communicative class, library variant, intensity, and speech anchor. A scalable robot-owned motion library defines the available expressive vocabulary and the source of 14-DoF joint targets. Pose Studio supports automatic trajectory generation, MuJoCo preview, and automatic synchronization of new library entries with the VLM guide; deterministic robot-side modules validate plans, construct trajectories, schedule gestures, and manage queueing and interruption. This division lets the interaction repertoire grow for new social contexts without changing the control interface or delegating raw joint commands to the foundation model. On the EmoPose-Bench, structured GPT-5.5 planning reaches $98.25\pm0.52\%$ on the Easy tier and $76.50\pm0.54\%$ overall, exceeding same-model direct-label prompting. Further tests validate dialogue-context use and ordered multi-action composition. The system completes the nominal MuJoCo suite and realizes all 29 authored variants on the physical Unitree G1. A four-stop laboratory tour demonstrates expressive narration with interruption, camera-grounded dialogue, and navigation.

Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-language-action systems provide semantic interfaces, but neither offers a scalable and interactive prior for broad full-body behavior. We introduce EgoPriMo (Egocentric Motion Prior for Humanoid Robots), a unified framework that learns such priors from egocentric human demonstrations. Given egocentric observations and a text prompt, EgoPriMo reconstructs, generates, and forecasts SMPL-based full-body motion. Language is used as a high-level control signal rather than a complete motion specification. At the core of EgoPriMo is a Triple-stream DiT that jointly models body dynamics, egocentric visual context, and text; task-conditioning masks route different tasks and missing-modality data through the same checkpoint. Experiments on Nymeria and EgoExo4D show that one checkpoint improves egocentric motion generation over UniEgoMotion while supporting reconstruction and forecasting; the generated SMPL motions can also be executed by a Unitree humanoid controller. These results indicate a practical path from scalable egocentric observations to generalizable and interactive humanoid motion priors.