Motion-Omni: End-to-End Joint Speech and Full-Body Motion for Spoken Dialogue

Chengqian Ma; Wei Tao; Haoyu Zhang; Yiwen Guo

cs.SDAug 28, 2026

Motion-Omni: End-to-End Joint Speech and Full-Body Motion for Spoken Dialogue

Authors: Chengqian Ma, Wei Tao, Haoyu Zhang, Yiwen Guo

Organizations: Peking University · LIGHTSPEED · The Chinese University of Hong Kong, Shenzhen · Independent Researcher

Abstract

An avatar that holds a conversation should decide what to say and to move while saying it, yet these abilities live in separate model families: spoken dialogue models produce speech without motion, and co-speech motion models produce motion only from audio handed to them. The standard remedy is a cascade that first generates the spoken response and then runs a motion model over the finished audio, which requires a second full inference pass and precludes any joint optimisation between the two. We present Motion-Omni, an end-to-end framework in which a spoken dialogue model natively outputs explicit facial expression together with hand, upper-body and lower-body motion, generated directly from the hidden states that produce the speech. Joint training is not optional here: with the speech pathway frozen, motion remains misaligned with the audio, and co-adapting the LLM, Speech Generator and Motion Generator under both objectives is what recovers alignment while retaining spoken-dialogue ability. Supervision comes from a scalable, model-agnostic pipeline that pseudo-labels consistent-voice speech responses with a replaceable motion teacher, yielding 422,856 quality-ranked pairs (1,402 hours). We further release SwDA-500 and, to our knowledge, the first public evaluation protocol for stochastic open-ended full-body spoken dialogue, matching audio across motion systems while unifying rendering, automatic metrics, human evaluation, and latency measurement. Instantiated with a Qwen2.5-7B-Instruct backbone, Motion-Omni-Q7 matches the same-audio teacher cascade to within 2% on reference-free motion metrics while responding 5.4 x faster (RTF=0.78, faster than real time), surpasses all non-teacher cascades on beat correlation and diversity, and reaches a 2.62% word error rate, the lowest among the omni-modal systems compared.

Figures & tables

Figure 1: Motion-Omni jointly generates speech and full-body motion. The dialogue is illustrative, with unpaired LOM-generated poses. The timing comparison uses the matched-audio, offline SwDA-500 benchmark (Table 5 ).

Figure 2: Motion-Omni framework with four components and their conditioning topology.

Figure 3: Speech-data curation and motion supervision. Insets schematically show the paired modalities: audio–text in Stage 1, text–speech units in Stage 2, and speech units–motion codes in Stage 3.

Stage	Samples	Hours
Stage 1: ASR	1,572,119	4,295.8
Stage 2: TTS	1,642,715	4,517.0
Stage 3: TTSM	422,856	1,402.3
Stage 4: Mixture	724,508	1,929.4
Total	4,362,198	12,144.6

Table 1: Training data by stage.

Model	test-en $\downarrow$
Human Reference
Human	2.14
Dedicated TTS
CosyVoice Du et al. [2024a]	4.29
CosyVoice 2 Du et al. [2024b]	2.57
FireRedTTS Guo et al. [2024]	3.82

Table 2: WER (%) on Seed-TTS-Eval.

	Reference-free					Teacher-referenced
System	Div. $\uparrow$	BC $\uparrow$	$\mathbf{BC_{\text{bi}}}\uparrow$	LSE-C $\uparrow$	LSE-D $\downarrow$	FGD $\downarrow$	MSE $\downarrow$	LVD $\downarrow$
Qwen2.5-Omni + MambaTalk	11.92	7.17	8.56	6.853	7.920	4.08	7.092	6.851
MO-audio + MambaTalk	12.07	7.03	8.60	6.797	7.955	4.15	7.128	7.019
Qwen2.5-Omni + GestureLSM	13.61	7.44	9.04	–	–	3.29	–	–
MO-audio + GestureLSM	13.55	7.49	9.11	–	–	3.17	–	–
Qwen2.5-Omni + EMAGE	11.67	7.31	8.66	6.578	8.151	3.75	7.553	7.205

Table 3: Motion, facial geometry and lip-sync metrics on SwDA-500. Teacher-referenced metrics compare against LOM-generated motion and thus favour LOM-based cascades; FGD, BC and

\mathrm{BC}_{\text{bi}}

are in

{\times}10^{-1}

units. Bold / underline mark the best/second-best; dashes denote values not computed.

Comparison	R1 Rhythm	R2 Semantics	R3 Naturalness	Pooled W/T/L (W–L)
Qwen2.5-Omni + LOM	12 3 10	13 12	10 3 12	35/6/34 ( $+1$ )
Qwen2.5-Omni + EMAGE	7 2 16	10 3 12	16 4 5	33/9/33 ( $0$ )
Same MO speech audio:
MO-audio + LOM	5 12 8	9 8 8	11 7 7	25/27/23 ( $+2$ )
MO-audio + EMAGE	13 7 5	15 3 7	17 8	45/10/20 ( $\bm{+25}$ )

Table 4: Human preference on motion-related dimensions. Bold / underline mark the largest/second-largest pooled wins-minus-losses margin.

Model	$T_{\text{resp}}$ (s) $\downarrow$	RTF $\downarrow$	Slowdown
Qwen2.5-Omni + LOM	99.08	18.34	$22.9{\times}$
Qwen2.5-Omni + EMAGE	48.65	8.79	$11.3{\times}$
MO-audio + LOM	23.35	4.39	$5.4{\times}$
MO-audio + EMAGE	4.63	0.84	$1.1{\times}$
Motion-Omni-Q7 (ours)	4.32	0.78	$1.0{\times}$

Table 5: Response latency on SwDA-500. Bold / underline mark the best/second-best value; Slowdown is relative to our model.

Appendix figures & tables10 assets

Supplementary material from the paper’s appendix.

Appendix

Part	Dim	Composition
Face	$106$	jaw ( $1\times 6$ ) $+$ FLAME expression ( $100$ )
Hand	$180$	$30$ hand joints $\times\,6$
Upper	$78$	$13$ upper-body joints $\times\,6$
Lower	$61$	$9$ lower-body joints $\times\,6$ $+$ translation ( $3$ ) $+$ foot contact ( $4$ )

Appendix

Table 6: SMPL-X + FLAME feature decomposition used by the four LOM VQ-VAEs. The face branch combines the SMPL-X jaw rotation with FLAME Li et al. [2017] expression coefficients; the remaining three branches are SMPL-X joint rotations (6D rotation representation).

Parameter	Value
Working dimension $d_{m}$	512
Number of attention heads $h$	8
Per-head dimension $d_{h}$	64
TQGF depth $L_{\text{TQGF}}$	2
Self-attention depth $L_{\text{self}}$	6
TQGF FFN multiplier	4

Appendix

Table 7: Motion Generator architectural hyperparameters.

Setting	Stage 1	Stage 2	Stage 3 (a–d)	Stage 4 †
Trainable modules	SP	SG	SG + MG	LLM + SP + SG + MG
LR (SP)	$1\!\times\!10^{-3}$	–	–	$1\!\times\!10^{-6}$
LR (SG)	–	$1\!\times\!10^{-4}$	$1\!\times\!10^{-5}$	$5\!\times\!10^{-7}$
LR (MG)	–	–	$2\!\times\!10^{-4}$	$2\!\times\!10^{-6}$
LR (LLM)	–	–	–	$2\!\times\!10^{-7}$
LR schedule	cosine	cosine	const + warmup	const + warmup

Appendix

Table 8: Training configuration of the four stages (rows are settings; columns are stages).

\dagger

: Stage 4 starts from the best Stage 3d checkpoint. “MG”: Motion Generator; “SG”: Speech Generator; “SP”: Speech Projector; “LR” is the peak learning rate. Warmup is given as a fraction of total steps unless noted.

Model	Alpaca	Common	Wild	SD-QA	MMSU	OBQA	BBH	IFEval	AdvBench	Overall
Closed-weight (API only)
GPT-4o-Audio OpenAI [2024]	4.78	4.49	4.58	75.50	80.25	89.23	84.10	76.02	98.65	86.75
Open-weight
Kimi-Audio KimiTeam et al. [2025]	4.46	3.97	4.20	63.12	62.17	83.52	69.70	61.10	100.00	76.91
Qwen2.5-Omni Xu et al. [2025]	4.49	3.93	–	55.71	61.32	81.10	–	52.87	99.42	–
VITA-1.5 Fu et al. [2025]	4.21	3.66	3.48	38.88	52.15	71.65	55.30	38.14	97.69	64.53

Appendix

Table 9: Spoken dialogue quality on VoiceBench Chen et al. [2026c] . Higher is better throughout. GPT-4o-Audio is served through an API and its weights are not released; every other system releases its weights. Dashes denote scores not reported.

Model / System	UTMOSv2 en mean $\uparrow$
Qwen3-TTS Team [2026]	4.05
CosyVoice 3 Du et al. [2025]	3.92
GLM-TTS Cui et al. [2025]	3.31
VoxCPM1.5 Zhou et al. [2025]	3.17
F5-TTS Chen et al. [2025b]	3.15
CosyVoice Du et al. [2024a]	3.06

Appendix

Table 10: Automatic speech naturalness proxy on SwDA-500 generated audio. In each column, bold marks the best value and underline the second best.

No.	Fusion / context source	BC $\uparrow$
1	TQGF / LLM K/V	0.827
2	Concatenation / Speech Generator K/V	0.809
3	GLU / Speech Generator K/V	0.799
4	Cross-attention / Speech Generator K/V	0.905
5	FiLM / Speech Generator K/V	0.852
6	TQGF / Speech Generator K/V	0.912

Appendix

Table 11: Motion-conditioning ablation under the Stage 3a setting.

Checkpoint	FGD $\downarrow$
Stage 3a	0.3974
Stage 3b	0.3258
Stage 3c	0.3079
Stage 3d	0.3075
Stage 4	0.3040

Appendix

Table 12: Teacher-reference FGD across training stages.

Panel of Figure 4 — Figure 4: Motion quality against response latency on SwDA-500. Circles are two-stage cascades; the star is our end-to-end model. Points closer to the top-left are better. The dashed line marks $\mathrm{RTF}=1$ , below which a system responds faster than real time.

Panel of Figure 5 — Figure 5: Motion-Omni-Q7 outputs on three released clips. Each row shows seven frames of a single response in temporal order, together with the text the model spoke in that response; the speech and the motion are produced in the same autoregressive pass. Frames are the seven mutually most distinct upper-body poses subject to a minimum temporal gap, not uniform samples.

Panel of Figure 6 — Figure 6: The same response audio driving five different motion sources. All rows use the speech Motion-Omni-Q7 generated for “Here are five positive character traits: honesty, empathy, kindness, confidence, and curiosity.”, sampled at the same seven timestamps ( $t=1.1$ to $6.9$ s in steps of about $0.98$ s) and rendered with an identical pipeline, so the only variable across rows is the motion stream.

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