A Fully Time-domain Neural Model for Subband-based Speech Synthesizer

This paper introduces a deep neural network model for subband-based speech synthesizer. The model benefits from the short bandwidth of the subband signals to reduce the complexity of the time-domain speech generator. We employed the multi-level wavelet analysis/synthesis to decompose/reconstruct the signal into subbands in time domain. Inspired from the WaveNet, a convolutional neural network (CNN) model predicts subband speech signals fully in time domain. Due to the short bandwidth of the subbands, a simple network architecture is enough to train the simple patterns of the subbands accurately. In the ground truth experiments with teacher-forcing, the subband synthesizer outperforms the fullband model significantly in terms of both subjective and objective measures. In addition, by conditioning the model on the phoneme sequence using a pronunciation dictionary, we have achieved the fully time-domain neural model for subband-based text-to-speech (TTS) synthesizer, which is nearly end-to-end. The generated speech of the subband TTS shows comparable quality as the fullband one with a slighter network architecture for each subband.Comment: 5 pages, 3 figur

Modeling Financial Time Series with Artificial Neural Networks

Financial time series convey the decisions and actions of a population of human actors over time. Econometric and regressive models have been developed in the past decades for analyzing these time series. More recently, biologically inspired artificial neural network models have been shown to overcome some of the main challenges of traditional techniques by better exploiting the non-linear, non-stationary, and oscillatory nature of noisy, chaotic human interactions. This review paper explores the options, benefits, and weaknesses of the various forms of artificial neural networks as compared with regression techniques in the field of financial time series analysis.CELEST, a National Science Foundation Science of Learning Center (SBE-0354378); SyNAPSE program of the Defense Advanced Research Project Agency (HR001109-03-0001

Learning Motion Predictors for Smart Wheelchair using Autoregressive Sparse Gaussian Process

Constructing a smart wheelchair on a commercially available powered wheelchair (PWC) platform avoids a host of seating, mechanical design and reliability issues but requires methods of predicting and controlling the motion of a device never intended for robotics. Analog joystick inputs are subject to black-box transformations which may produce intuitive and adaptable motion control for human operators, but complicate robotic control approaches; furthermore, installation of standard axle mounted odometers on a commercial PWC is difficult. In this work, we present an integrated hardware and software system for predicting the motion of a commercial PWC platform that does not require any physical or electronic modification of the chair beyond plugging into an industry standard auxiliary input port. This system uses an RGB-D camera and an Arduino interface board to capture motion data, including visual odometry and joystick signals, via ROS communication. Future motion is predicted using an autoregressive sparse Gaussian process model. We evaluate the proposed system on real-world short-term path prediction experiments. Experimental results demonstrate the system's efficacy when compared to a baseline neural network model.Comment: The paper has been accepted to the International Conference on Robotics and Automation (ICRA2018