ECHO-G: Embodied Co-speech Humanoid mOtion Generation
Generating full-body co-speech motion for humanoid robots requires coordinating speech prosody, linguistic content, and embodiment-specific motion. To this end, we present ECHO-G, a framework jointly conditioned on speech audio and timed transcripts. Its Speech-Grounded Diffusion Transformer (SGDiT) combines frame-alig...
Yi-Zhao Li, Pu-Sen Gao, Ming Wang et al.
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