Author

Ziang Ren

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Preprint Aug 2026

RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction

This work proposes RoboGesture, a robot-centric framework that co-designs data, modeling, and control to power a complete interactive human-humanoid system in which the robot listens, responds, and gestures in real time.

Zi-Fan Wang, Ziang Ren, Pengteng Shi et al. · 5 citations

Preprint Jul 2026

Unified Gradient Projection: Language-Balanced Continual Learning for Multilingual Low-Resource ASR

Unified Gradient Projection is proposed, which constrains parameter updates using reference gradients from language-balanced replay in a unified projection space and shows that combining gradient-level projection with data-level replay yields complementary gains in stability and plasticity.

Ziang Ren, Guodong Lin, Yuchen Ai et al. · 0 citations