CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video

Key points

• Partnered human-humanoid interaction couples locomotion with continuous physical contact.1
• A humanoid needs to coordinate with a person's motion while responding to interaction forces and maintaining stable and natural movement.1
• We study partnered dancing as a challenging instantiation, where a humanoid coordinates its footsteps with a moving partner and maintains continuous two-hand contact.1
• We introduce a multi-link compliance augmentation that transforms the kinematic demonstration into force-aware training data by adapting the robot reference under structured forces at both hands.1

Sources (1)

• [1]CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video
  Hugging Face Daily Papers · Oct 4, 12:00 AM

  We present CoDance, a framework for learning reactive and compliant human-humanoid interaction from video.

  Partnered human-humanoid interaction couples locomotion with continuous physical contact.

Extractive summary: sentences quoted from the sources.