| Pose and Animation | |
|---|---|
| Expressions | Manages transitions between fixed facial expressions and body poses |
| Gestures | Can execute one or more gesture animations in parallel |
| Idle Motions | |
| Breathing | Moves shoulders and torso to simulate breathing when not speaking |
| Blinking | Blinks eyes at a fixed rate with slight random variation |
| Speech-related | |
| Lip Sync | Moves lips to match speech signal |
| Rhythm | Generates emphasis and nodding behaviors in response to the robot’s speech signal |
| Backchannel | Generates nodding behaviors in response to the human’s speech signal |
| Gaze Control | |
| Gaze Controller |
Uses closed-loop control to manipulate 7 joints to direct the robot’s gaze at a specific direction or point in space |
| Gaze Avert | Adds small offsets to the target gaze direction to simulate natural human gaze variations |
