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EmoPose: Vision-Language Model Guided Emotion-Aware Gesture Generation for Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Socially competent humanoid robots must communicate affect and intent through gesture as well as speech, yet open-ended interaction must become motion that is both expressive and executable on a specific body. This demands semantic flexibility for contextual social intent while preserving deterministic, embodiment-aware robot control. We present EmoPose, a vision-language model (VLM)-guided framework that bridges this gap through an executable semantic interface. Given language, dialogue history, and optional visual context, the VLM selects an ordered gesture plan containing a communicative cl

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