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Co-Speech with You: Training-Free Personalization of Robot Co-Speech Gestures

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

Personal robots should adapt their co-speech gesture style to a new user without requiring model retraining. We present a training-free personalization pipeline that combines a frozen audio-conditioned diffusion prior with a gesture style encoder and lightweight conditioning adapters. The encoder is first trained to discriminate speaker identities and then jointly refined with the adapters using the diffusion objective, enabling a reusable style embedding to be extracted from approximately 10 seconds of enrollment motion through a single forward pass. To support this setting, we also release a

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