Duke's CoDance teaches humanoids to dance with humans from a single video
DukeUniversity · hf · 2026-10-08
Duke University presents CoDance, a framework for learning reactive and compliant human-humanoid interaction from video, using partnered dancing as the challenge scenario.
- Given a single video of two human dancers, CoDance retargets their motions into a robot reference and a moving partner.
- A multi-link compliance augmentation turns kinematic demonstrations into force-aware training data under structured forces at both hands.
- In simulation, policies adapt footsteps to partner changes and reproduce 80% of the demonstrated wrist displacement; on a physical humanoid it enables sustained two-hand dancing with repeated forward/backward transitions.
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