Okay, how the heck did I miss this?!? Apparently, at ComicCon, the folks at the Jim Henson Company put on a performance called Jim Henson's Puppet Improv. Here's a clip from the show. After the introduction, they do a translation improv game. The sound isn't great, but you get the idea. I was astounded at their ability to do a nice improv scene, do the puppeteering, and keep those characters physicalizing their reactions. Sweet!