GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots
GestAdapt creates a system that generates robot co-speech gestures by conditioning them directly on the available workspace for the wrist. It unifies six diverse gesture datasets into one representation and uses a diffusion model to learn how to adapt motion based on speech, history, and spatial boundaries. This allows generated gestures to change dynamically with the robot's environment while maintaining natural movement.