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

Text-based Editing of Talking-head Video

Editing talking-head video to change the speech content or to remove filler words is challenging. We propose a novel method to edit talking-head video based on its transcript to produce a realistic output video in which the dialogue of the speaker has been modified, while maintaining a seamless audio-visual flow (i.e. no jump cuts). Our method automatically annotates an input talking-head video with phonemes, visemes, 3D face pose and geometry, reflectance, expression and scene illumination per frame. To edit a video, the user has to only edit the transcript, and an optimization strategy then chooses segments of the input corpus as base material. The annotated parameters corresponding to the selected segments are seamlessly stitched together and used to produce an intermediate video representation in which the lower half of the face is rendered with a parametric face model. Finally, a recurrent video generation network transforms this representation to a photorealistic video that matches the edited transcript. We demonstrate a large variety of edits, such as the addition, removal, and alteration of words, as well as convincing language translation and full sentence synthesis

Analyzing Hidden Representations in End-to-End Automatic Speech Recognition Systems

Neural models have become ubiquitous in automatic speech recognition systems. While neural networks are typically used as acoustic models in more complex systems, recent studies have explored end-to-end speech recognition systems based on neural networks, which can be trained to directly predict text from input acoustic features. Although such systems are conceptually elegant and simpler than traditional systems, it is less obvious how to interpret the trained models. In this work, we analyze the speech representations learned by a deep end-to-end model that is based on convolutional and recurrent layers, and trained with a connectionist temporal classification (CTC) loss. We use a pre-trained model to generate frame-level features which are given to a classifier that is trained on frame classification into phones. We evaluate representations from different layers of the deep model and compare their quality for predicting phone labels. Our experiments shed light on important aspects of the end-to-end model such as layer depth, model complexity, and other design choices.Comment: NIPS 201

Rhythm-Flexible Voice Conversion without Parallel Data Using Cycle-GAN over Phoneme Posteriorgram Sequences

Speaking rate refers to the average number of phonemes within some unit time, while the rhythmic patterns refer to duration distributions for realizations of different phonemes within different phonetic structures. Both are key components of prosody in speech, which is different for different speakers. Models like cycle-consistent adversarial network (Cycle-GAN) and variational auto-encoder (VAE) have been successfully applied to voice conversion tasks without parallel data. However, due to the neural network architectures and feature vectors chosen for these approaches, the length of the predicted utterance has to be fixed to that of the input utterance, which limits the flexibility in mimicking the speaking rates and rhythmic patterns for the target speaker. On the other hand, sequence-to-sequence learning model was used to remove the above length constraint, but parallel training data are needed. In this paper, we propose an approach utilizing sequence-to-sequence model trained with unsupervised Cycle-GAN to perform the transformation between the phoneme posteriorgram sequences for different speakers. In this way, the length constraint mentioned above is removed to offer rhythm-flexible voice conversion without requiring parallel data. Preliminary evaluation on two datasets showed very encouraging results.Comment: 8 pages, 6 figures, Submitted to SLT 201

Morphological Analysis as Classification: an Inductive-Learning Approach

Morphological analysis is an important subtask in text-to-speech conversion, hyphenation, and other language engineering tasks. The traditional approach to performing morphological analysis is to combine a morpheme lexicon, sets of (linguistic) rules, and heuristics to find a most probable analysis. In contrast we present an inductive learning approach in which morphological analysis is reformulated as a segmentation task. We report on a number of experiments in which five inductive learning algorithms are applied to three variations of the task of morphological analysis. Results show (i) that the generalisation performance of the algorithms is good, and (ii) that the lazy learning algorithm IB1-IG performs best on all three tasks. We conclude that lazy learning of morphological analysis as a classification task is indeed a viable approach; moreover, it has the strong advantages over the traditional approach of avoiding the knowledge-acquisition bottleneck, being fast and deterministic in learning and processing, and being language-independent.Comment: 11 pages, 5 encapsulated postscript figures, uses non-standard NeMLaP proceedings style nemlap.sty; inputs ipamacs (international phonetic alphabet) and epsf macro