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

Nonparametric Bayesian Double Articulation Analyzer for Direct Language Acquisition from Continuous Speech Signals

Human infants can discover words directly from unsegmented speech signals without any explicitly labeled data. In this paper, we develop a novel machine learning method called nonparametric Bayesian double articulation analyzer (NPB-DAA) that can directly acquire language and acoustic models from observed continuous speech signals. For this purpose, we propose an integrative generative model that combines a language model and an acoustic model into a single generative model called the "hierarchical Dirichlet process hidden language model" (HDP-HLM). The HDP-HLM is obtained by extending the hierarchical Dirichlet process hidden semi-Markov model (HDP-HSMM) proposed by Johnson et al. An inference procedure for the HDP-HLM is derived using the blocked Gibbs sampler originally proposed for the HDP-HSMM. This procedure enables the simultaneous and direct inference of language and acoustic models from continuous speech signals. Based on the HDP-HLM and its inference procedure, we developed a novel double articulation analyzer. By assuming HDP-HLM as a generative model of observed time series data, and by inferring latent variables of the model, the method can analyze latent double articulation structure, i.e., hierarchically organized latent words and phonemes, of the data in an unsupervised manner. The novel unsupervised double articulation analyzer is called NPB-DAA. The NPB-DAA can automatically estimate double articulation structure embedded in speech signals. We also carried out two evaluation experiments using synthetic data and actual human continuous speech signals representing Japanese vowel sequences. In the word acquisition and phoneme categorization tasks, the NPB-DAA outperformed a conventional double articulation analyzer (DAA) and baseline automatic speech recognition system whose acoustic model was trained in a supervised manner.Comment: 15 pages, 7 figures, Draft submitted to IEEE Transactions on Autonomous Mental Development (TAMD

Improving computer lipreading via DNN sequence discriminative training techniques

Although there have been some promising results in computer lipreading, there has been a paucity of data on which to train automatic systems. However the recent emergence of the TCD-TIMIT corpus, with around 6000 words, 59 speakers and seven hours of recorded audio-visual speech, allows the deployment of more recent techniques in audio-speech such as Deep Neural Networks (DNNs) and sequence discriminative training. In this paper we combine the DNN with a Hidden Markov Model (HMM) to the, so called, hybrid DNN-HMM configuration which we train using a variety of sequence discriminative training methods. This is then followed with a weighted finite state transducer. The conclusion is that the DNN offers very substantial improvement over a conventional classifier which uses a Gaussian Mixture Model (GMM) to model the densities even when optimised with Speaker Adaptive Training. Sequence adaptive training offers further improvements depending on the precise variety employed but those improvements are of the order of ~10\% improvement in word accuracy. Putting these two results together implies that lipreading is moving from something of rather esoteric interest to becoming a practical reality in the foreseeable future

SMaTTS: standard malay text to speech system

This paper presents a rule-based text- to- speech (TTS) Synthesis System for Standard Malay, namely SMaTTS. The proposed system using sinusoidal method and some pre- recorded wave files in generating speech for the system. The use of phone database significantly decreases the amount of computer memory space used, thus making the system very light and embeddable. The overall system was comprised of two phases the Natural Language Processing (NLP) that consisted of the high-level processing of text analysis, phonetic analysis, text normalization and morphophonemic module. The module was designed specially for SM to overcome few problems in defining the rules for SM orthography system before it can be passed to the DSP module. The second phase is the Digital Signal Processing (DSP) which operated on the low-level process of the speech waveform generation. A developed an intelligible and adequately natural sounding formant-based speech synthesis system with a light and user-friendly Graphical User Interface (GUI) is introduced. A Standard Malay Language (SM) phoneme set and an inclusive set of phone database have been constructed carefully for this phone-based speech synthesizer. By applying the generative phonology, a comprehensive letter-to-sound (LTS) rules and a pronunciation lexicon have been invented for SMaTTS. As for the evaluation tests, a set of Diagnostic Rhyme Test (DRT) word list was compiled and several experiments have been performed to evaluate the quality of the synthesized speech by analyzing the Mean Opinion Score (MOS) obtained. The overall performance of the system as well as the room for improvements was thoroughly discussed

Deep Neural Networks for Automatic Speech-To-Speech Translation of Open Educational Resources

[ES] En los últimos años, el aprendizaje profundo ha cambiado significativamente el panorama en diversas áreas del campo de la inteligencia artificial, entre las que se incluyen la visión por computador, el procesamiento del lenguaje natural, robótica o teoría de juegos. En particular, el sorprendente éxito del aprendizaje profundo en múltiples aplicaciones del campo del procesamiento del lenguaje natural tales como el reconocimiento automático del habla (ASR), la traducción automática (MT) o la síntesis de voz (TTS), ha supuesto una mejora drástica en la precisión de estos sistemas, extendiendo así su implantación a un mayor rango de aplicaciones en la vida real. En este momento, es evidente que las tecnologías de reconocimiento automático del habla y traducción automática pueden ser empleadas para producir, de forma efectiva, subtítulos multilingües de alta calidad de contenidos audiovisuales. Esto es particularmente cierto en el contexto de los vídeos educativos, donde las condiciones acústicas son normalmente favorables para los sistemas de ASR y el discurso está gramaticalmente bien formado. Sin embargo, en el caso de TTS, aunque los sistemas basados en redes neuronales han demostrado ser capaces de sintetizar voz de un realismo y calidad sin precedentes, todavía debe comprobarse si esta tecnología está lo suficientemente madura como para mejorar la accesibilidad y la participación en el aprendizaje en línea. Además, existen diversas tareas en el campo de la síntesis de voz que todavía suponen un reto, como la clonación de voz inter-lingüe, la síntesis incremental o la adaptación zero-shot a nuevos locutores. Esta tesis aborda la mejora de las prestaciones de los sistemas actuales de síntesis de voz basados en redes neuronales, así como la extensión de su aplicación en diversos escenarios, en el contexto de mejorar la accesibilidad en el aprendizaje en línea. En este sentido, este trabajo presta especial atención a la adaptación a nuevos locutores y a la clonación de voz inter-lingüe, ya que los textos a sintetizar se corresponden, en este caso, a traducciones de intervenciones originalmente en otro idioma.[CA] Durant aquests darrers anys, l'aprenentatge profund ha canviat significativament el panorama en diverses àrees del camp de la intel·ligència artificial, entre les quals s'inclouen la visió per computador, el processament del llenguatge natural, robòtica o la teoria de jocs. En particular, el sorprenent èxit de l'aprenentatge profund en múltiples aplicacions del camp del processament del llenguatge natural, com ara el reconeixement automàtic de la parla (ASR), la traducció automàtica (MT) o la síntesi de veu (TTS), ha suposat una millora dràstica en la precisió i qualitat d'aquests sistemes, estenent així la seva implantació a un ventall més ampli a la vida real. En aquest moment, és evident que les tecnologies de reconeixement automàtic de la parla i traducció automàtica poden ser emprades per a produir, de forma efectiva, subtítols multilingües d'alta qualitat de continguts audiovisuals. Això és particularment cert en el context dels vídeos educatius, on les condicions acústiques són normalment favorables per als sistemes d'ASR i el discurs està gramaticalment ben format. No obstant això, al cas de TTS, encara que els sistemes basats en xarxes neuronals han demostrat ser capaços de sintetitzar veu d'un realisme i qualitat sense precedents, encara s'ha de comprovar si aquesta tecnologia és ja prou madura com per millorar l'accessibilitat i la participació en l'aprenentatge en línia. A més, hi ha diverses tasques al camp de la síntesi de veu que encara suposen un repte, com ara la clonació de veu inter-lingüe, la síntesi incremental o l'adaptació zero-shot a nous locutors. Aquesta tesi aborda la millora de les prestacions dels sistemes actuals de síntesi de veu basats en xarxes neuronals, així com l'extensió de la seva aplicació en diversos escenaris, en el context de millorar l'accessibilitat en l'aprenentatge en línia. En aquest sentit, aquest treball presta especial atenció a l'adaptació a nous locutors i a la clonació de veu interlingüe, ja que els textos a sintetitzar es corresponen, en aquest cas, a traduccions d'intervencions originalment en un altre idioma.[EN] In recent years, deep learning has fundamentally changed the landscapes of a number of areas in artificial intelligence, including computer vision, natural language processing, robotics, and game theory. In particular, the striking success of deep learning in a large variety of natural language processing (NLP) applications, including automatic speech recognition (ASR), machine translation (MT), and text-to-speech (TTS), has resulted in major accuracy improvements, thus widening the applicability of these technologies in real-life settings. At this point, it is clear that ASR and MT technologies can be utilized to produce cost-effective, high-quality multilingual subtitles of video contents of different kinds. This is particularly true in the case of transcription and translation of video lectures and other kinds of educational materials, in which the audio recording conditions are usually favorable for the ASR task, and there is a grammatically well-formed speech. However, although state-of-the-art neural approaches to TTS have shown to drastically improve the naturalness and quality of synthetic speech over conventional concatenative and parametric systems, it is still unclear whether this technology is already mature enough to improve accessibility and engagement in online learning, and particularly in the context of higher education. Furthermore, advanced topics in TTS such as cross-lingual voice cloning, incremental TTS or zero-shot speaker adaptation remain an open challenge in the field. This thesis is about enhancing the performance and widening the applicability of modern neural TTS technologies in real-life settings, both in offline and streaming conditions, in the context of improving accessibility and engagement in online learning. Thus, particular emphasis is placed on speaker adaptation and cross-lingual voice cloning, as the input text corresponds to a translated utterance in this context.Pérez González De Martos, AM. (2022). Deep Neural Networks for Automatic Speech-To-Speech Translation of Open Educational Resources [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/184019TESISPremios Extraordinarios de tesis doctorale