Related papers: HMM-based phoneme speech recognition system for co…
We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios. The proposed system employs two large language model (LLM)…
Effective spoken dialog systems should facilitate natural interactions with quick and rhythmic timing, mirroring human communication patterns. To reduce response times, previous efforts have focused on minimizing the latency in automatic…
Labeled audio data is insufficient to build satisfying speech recognition systems for most of the languages in the world. There have been some zero-resource methods trying to perform phoneme or word-level speech recognition without labeled…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
Designing and building automated systems with which people can interact naturally is one of the emerging objective of Mechatronics. In this perspective multimodality and adaptivity represent focal issues, enabling users to communicate more…
This paper introduces our approach to building a robot with communication capability based on the two key features: stochastic neural dynamics and prediction error minimization (PEM). A preliminary experiment with humanoid robots showed…
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…
With an increasing need for elderly and disability care, there is an increasing opportunity for intelligent and mobile devices such as robots to provide care and support solutions. In order to naturally assist and interact with humans, a…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Recognition of social signals, from human facial expressions or prosody of speech, is a popular research topic in human-robot interaction studies. There is also a long line of research in the spoken dialogue community that investigates user…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
Phoneme-level computer-assisted pronunciation training systems typically rely on phoneme-level annotations, which are costly and scarce. In this work, we investigate whether phoneme-level mispronunciation information can be learned without…
A new language model for speech recognition inspired by linguistic analysis is presented. The model develops hidden hierarchical structure incrementally and uses it to extract meaningful information from the word history - thus enabling the…
In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…
Natural language interfaces can simplify interaction with multi-robot systems, especially when non-expert users need to issue high-level commands. Acoustic manipulation using ultrasonic phased arrays also enables contactless object handling…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
We describe a large vocabulary speech recognition system that is accurate, has low latency, and yet has a small enough memory and computational footprint to run faster than real-time on a Nexus 5 Android smartphone. We employ a quantized…
Speech recognition technologies are gaining enormous popularity in various industrial applications. However, building a good speech recognition system usually requires large amounts of transcribed data, which is expensive to collect. To…
In this paper, we present several adaptation methods for non-native speech recognition. We have tested pronunciation modelling, MLLR and MAP non-native pronunciation adaptation and HMM models retraining on the HIWIRE foreign accented…
As for the humanoid robots, the internal noise, which is generated by motors, fans and mechanical components when the robot is moving or shaking its body, severely degrades the performance of the speech recognition accuracy. In this paper,…