相关论文: Neural Kalman Filtering for Speech Enhancement

In this paper, we propose a novel recurrent neural network architecture for speech separation. This architecture is constructed by unfolding the iterations of a sequential iterative soft-thresholding algorithm (ISTA) that solves the…

This paper studies the optimal state estimation for a dynamic system, whose transfer function can be nonlinear and the input noise can be of arbitrary distribution. Our algorithm differs from the conventional extended Kalman filter (EKF)…

The word error rate (WER) of an automatic speech recognition (ASR) system increases when a mismatch occurs between the training and the testing conditions due to the noise, etc. In this case, the acoustic information can be less reliable.…

The Kalman Filter (KF) is a powerful mathematical tool widely used for state estimation in various domains, including Simultaneous Localization and Mapping (SLAM). This paper presents an in-depth introduction to the Kalman Filter and…

This paper explores the problem of training a recurrent neural network from noisy data. While neural network based dynamic predictors perform well with noise-free training data, prediction with noisy inputs during training phase poses a…

Robustness and adaptivity are two competing objectives in Kalman filters (KF). Robustness involves temporarily inflating prior estimates of noise covariances, while adaptivity updates prior beliefs by exploiting measurements. In practical…

Most works on joint state and unknown input (UI) estimation require the assumption that the UIs are linear; this is potentially restrictive as it does not hold in many intelligent autonomous systems. To overcome this restriction and…

The cubature Kalman filter (CKF), while theoretically rigorous for nonlinear estimation, often suffers performance degradation due to model-environment mismatches in practice. To address this limitation, we propose CKFNet-a hybrid…

In recent decades, neural network based methods have significantly improved the performace of speech enhancement. Most of them estimate time-frequency (T-F) representation of target speech directly or indirectly, then resynthesize waveform…

Speaker verification (SV) suffers from unsatisfactory performance in far-field scenarios due to environmental noise andthe adverse impact of room reverberation. This work presents a benchmark of multichannel speech enhancement for…

In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when slip occurs, kinematic measurements violate the no-slip…

Statistical language models are central to many applications that use semantics. Recurrent Neural Networks (RNN) are known to produce state of the art results for language modelling, outperforming their traditional n-gram counterparts in…

Neural waveform models such as WaveNet have demonstrated better performance than conventional vocoders for statistical parametric speech synthesis. As an autoregressive (AR) model, WaveNet is limited by a slow sequential waveform generation…

Although n-gram language models (LMs) have been outperformed by the state-of-the-art neural LMs, they are still widely used in speech recognition due to its high efficiency in inference. In this paper, we demonstrate that n-gram LM can be…

We propose a new extension of Kalman filtering for continuous-discrete systems with nonlinear state-space models that we name as the level set Kalman filter (LSKF). The LSKF assumes the probability distribution can be approximated as a…

A square root approach is considered for the problem of accounting for model noise in the forecast step of the ensemble Kalman filter (EnKF) and related algorithms. The primary aim is to replace the method of simulated, pseudo-random,…

We introduce a large language model (LLM) capable of processing speech inputs and show that tuning it further with reinforcement learning on human preference (RLHF) enables it to adapt better to disordered speech than traditional…

There has been an increasing surge of interest on development of advanced Reinforcement Learning (RL) systems as intelligent approaches to learn optimal control policies directly from smart agents' interactions with the environment.…

The Kalman filter (KF)-based active noise control (ANC) system demonstrates superior tracking and faster convergence compared to the least mean square (LMS) method, particularly in dynamic noise cancellation scenarios. However, in…

In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those constraints as noise-free pseudo-measurements. To this aim, we…