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[Submitted on 29 Sep 2026] Title:GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots View a PDF of the paper titled GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots, by Bosong Ding and 4 other authors View PDF HTML (experimental) Abstract:Co-speech gestures for robots must adapt not only to speech and embodiment, but also to the workspace available for performing the motion. Since the same speech can be accompanied by different gestures, a robot can respond to workspace constraints, e.g., gestures for speech next to a wall. In these scenarios, the robot should gesture in a suitable motion rather than simply correcting an unconstrained one. To achieve this goal, we present GestAdapt, a workspace-conditioned framework that conditions co-speech gesture generation on a prescribed wrist workspace. The GestAdapt framework learns from six complementary co-speech corpora through a shared motion representation and supports retargeting to different robot embodiments. Quantitative evaluation shows that generated motions remain close to the real-motion distribution while respecting the workspace. In a user study, gestures generated under modified workspace constraints receive a mean quality score of 3.24/5, above our no-workspace variant (2.43/5) and below the reference motions (3.68/5). In a real robot evaluation, all compared motions are retargeted to the Reachy2 humanoid robot under identical workspace constraints. Motions generated with our framework rank first in 69.7\% of comparisons, higher than our no-workspace variant baseline and retargeted ground-truth motions constrained afterward. Overall, the results support adapting gestures to the available workspace during generation, rather than modifying unconstrained trajectories afterward to satisfy workspace constraints, potentially compromising gesture naturalness. Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC); Machine Learning (cs.LG) Cite as: arXiv:2609.38400 [cs.RO] (or arXiv:2609.38400v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.38400 arXiv-issued DOI via DataCite (pending registration) Submission history From: Giacomo Spigler [view email] [v1] Tue, 29 Sep 2026 18:55:37 UTC (5,714 KB) Full-text links: Access Paper: View a PDF of the paper titled GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots, by Bosong Ding and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.AI cs.HC cs.LG References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)