Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

SVMs for Automatic Speech Recognition: a Survey

Hidden Markov Models (HMMs) are, undoubtedly, the most employed core technique for Automatic Speech Recognition (ASR). Nevertheless, we are still far from achieving high-performance ASR systems. Some alternative approaches, most of them based on Artificial Neural Networks (ANNs), were proposed during the late eighties and early nineties. Some of them tackled the ASR problem using predictive ANNs, while others proposed hybrid HMM/ANN systems. However, despite some achievements, nowadays, the preponderance of Markov Models is a fact. During the last decade, however, a new tool appeared in the field of machine learning that has proved to be able to cope with hard classification problems in several fields of application: the Support Vector Machines (SVMs). The SVMs are effective discriminative classifiers with several outstanding characteristics, namely: their solution is that with maximum margin; they are capable to deal with samples of a very higher dimensionality; and their convergence to the minimum of the associated cost function is guaranteed. These characteristics have made SVMs very popular and successful. In this chapter we discuss their strengths and weakness in the ASR context and make a review of the current state-of-the-art techniques. We organize the contributions in two parts: isolated-word recognition and continuous speech recognition. Within the first part we review several techniques to produce the fixed-dimension vectors needed for original SVMs. Afterwards we explore more sophisticated techniques based on the use of kernels capable to deal with sequences of different length. Among them is the DTAK kernel, simple and effective, which rescues an old technique of speech recognition: Dynamic Time Warping (DTW). Within the second part, we describe some recent approaches to tackle more complex tasks like connected digit recognition or continuous speech recognition using SVMs. Finally we draw some conclusions and outline several ongoing lines of research

Connectionist Temporal Modeling for Weakly Supervised Action Labeling

We propose a weakly-supervised framework for action labeling in video, where only the order of occurring actions is required during training time. The key challenge is that the per-frame alignments between the input (video) and label (action) sequences are unknown during training. We address this by introducing the Extended Connectionist Temporal Classification (ECTC) framework to efficiently evaluate all possible alignments via dynamic programming and explicitly enforce their consistency with frame-to-frame visual similarities. This protects the model from distractions of visually inconsistent or degenerated alignments without the need of temporal supervision. We further extend our framework to the semi-supervised case when a few frames are sparsely annotated in a video. With less than 1% of labeled frames per video, our method is able to outperform existing semi-supervised approaches and achieve comparable performance to that of fully supervised approaches.Comment: To appear in ECCV 201

Robust ASR using Support Vector Machines

The improved theoretical properties of Support Vector Machines with respect to other machine learning alternatives due to their max-margin training paradigm have led us to suggest them as a good technique for robust speech recognition. However, important shortcomings have had to be circumvented, the most important being the normalisation of the time duration of different realisations of the acoustic speech units. In this paper, we have compared two approaches in noisy environments: first, a hybrid HMM–SVM solution where a fixed number of frames is selected by means of an HMM segmentation and second, a normalisation kernel called Dynamic Time Alignment Kernel (DTAK) first introduced in Shimodaira et al. [Shimodaira, H., Noma, K., Nakai, M., Sagayama, S., 2001. Support vector machine with dynamic time-alignment kernel for speech recognition. In: Proc. Eurospeech, Aalborg, Denmark, pp. 1841–1844] and based on DTW (Dynamic Time Warping). Special attention has been paid to the adaptation of both alternatives to noisy environments, comparing two types of parameterisations and performing suitable feature normalisation operations. The results show that the DTA Kernel provides important advantages over the baseline HMM system in medium to bad noise conditions, also outperforming the results of the hybrid system.Publicad