Duke University

“CoDance demonstrates that a humanoid robot can learn a complex, physically interactive behavior—partnered dancing—using only a single 9.7-second video of two human dancers.”

“The framework was validated on a physical Unitree G1 humanoid, achieving sustained two-hand dancing with a human partner.”

“The decoupled policy uses an adversarial motion reward [3]. Its discriminator compares two-frame transitions from policy rollouts with transitions from the training references using lower-body and torso poses in the pelvis frame.”

“Our augmentation builds on the quasi-static compliance solve of SoftMimic [4].”

“The robot maintained a consistent following distance (mean of 0.48m to 0.50m against a 0.5m target) and successfully transitioned between forward and backward motions for up to 38.9 seconds without falling”

“All authors are with Duke University.”