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CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video — arXiv:2610.05324

Source: arXiv
Original: https://arxiv.org/abs/2610.05324
License (as archived): CC0-1.0
Archived: 2026-10-06T05:26:48.931Z
SHA-256 of the archived text: 37934c686e0f3afccec93ffb01be3768b7668966099067306c5ff4cc7ae2233d
Stable URL of this page: https://metraipolis.com/documento/dc_1504e21deee2

How to cite

CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video — arXiv:2610.05324 — arXiv, https://arxiv.org/abs/2610.05324 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_1504e21deee2 (Metraipolis archive dc_1504e21deee2, sha256 37934c686e0f3afccec93ffb01be3768b7668966099067306c5ff4cc7ae2233d)

BibTeX

@misc{dc1504e21deee2,
  title = {CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video — arXiv:2610.05324},
  howpublished = {arXiv},
  url = {https://arxiv.org/abs/2610.05324},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_1504e21deee2; sha256 37934c686e0f3afccec93ffb01be3768b7668966099067306c5ff4cc7ae2233d},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv, https://arxiv.org/abs/2610.05324. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Partnered human-humanoid interaction couples locomotion with continuous physical contact. A humanoid needs to coordinate with a person's motion while responding to interaction forces and maintaining stable and natural movement. We present CoDance, a framework for learning reactive and compliant human-humanoid interaction from video. We study partnered dancing as a challenging instantiation, where a humanoid coordinates its footsteps with a moving partner and maintains continuous two-hand contact. Given a single video of two human dancers, CoDance retargets their motions into a robot reference and a moving partner. 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. Policies trained on this data follow the observed partner while preserving the demonstrated locomotion style and responding compliantly to physical interaction. In simulation, the policies adapt their footsteps to changes in the partner and reproduce approximately 80% of the wrist displacement encoded by the augmented demonstrations. On a physical humanoid, CoDance enables sustained two-hand dancing with a human partner including repeated transitions between forward and backward motions.

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.AI, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2610.05324 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-06T05:24:05.996Z dalla pagina https://arxiv.org/list/cs.AI/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).