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MIRA: Real-Time Full-Duplex Human-Robot Interaction for Embodied Companions

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

% !TEX root = ../main.tex Real-time embodied companion interaction requires a robot to infer user intent from streaming speech, generate timely responses, and execute expressive, interruptible motions. Existing systems typically decouple dialogue orchestration from gesture synthesis, relying on offline motion generation from complete audio. This separation leaves open how a deployed robot can dynamically synchronize response content, prosodic timing, and physical safety under incremental inputs and uncertain turn boundaries. We present MIRA, a unified framework for real-time full-duplex embodi

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