EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

Yi Lu, Tianhao Jiang, Honglong Tian, Yumeng Zhang, Qingrui Zhao, Zhengtao Wang, Xiao-Xiao Long, Qiu Shen, Xun Cao

arXiv preprint arXiv:2609.14432 · 2026

Abstract

EMoG generates expressive humanoid gait trajectories with adjustable emotional style and intensity, combining physical motion commands with reinforcement-learning-based execution.