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

An acoustic-phonetic approach in automatic Arabic speech recognition

In a large vocabulary speech recognition system the broad phonetic classification technique is used instead of detailed phonetic analysis to overcome the variability in the acoustic realisation of utterances. The broad phonetic description of a word is used as a means of lexical access, where the lexicon is structured into sets of words sharing the same broad phonetic labelling. This approach has been applied to a large vocabulary isolated word Arabic speech recognition system. Statistical studies have been carried out on 10,000 Arabic words (converted to phonemic form) involving different combinations of broad phonetic classes. Some particular features of the Arabic language have been exploited. The results show that vowels represent about 43% of the total number of phonemes. They also show that about 38% of the words can uniquely be represented at this level by using eight broad phonetic classes. When introducing detailed vowel identification the percentage of uniquely specified words rises to 83%. These results suggest that a fully detailed phonetic analysis of the speech signal is perhaps unnecessary. In the adopted word recognition model, the consonants are classified into four broad phonetic classes, while the vowels are described by their phonemic form. A set of 100 words uttered by several speakers has been used to test the performance of the implemented approach. In the implemented recognition model, three procedures have been developed, namely voiced-unvoiced-silence segmentation, vowel detection and identification, and automatic spectral transition detection between phonemes within a word. The accuracy of both the V-UV-S and vowel recognition procedures is almost perfect. A broad phonetic segmentation procedure has been implemented, which exploits information from the above mentioned three procedures. Simple phonological constraints have been used to improve the accuracy of the segmentation process. The resultant sequence of labels are used for lexical access to retrieve the word or a small set of words sharing the same broad phonetic labelling. For the case of having more than one word-candidates, a verification procedure is used to choose the most likely one

A digital neural network approach to speech recognition

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.This thesis presents two novel methods for isolated word speech recognition based on sub-word components. A digital neural network is the fundamental processing strategy in both methods. The first design is based on the 'Separate Segmentation & Labelling' (SS&L) approach. The spectral data of the input utterance is first segmented into phoneme-like units which are then time normalised by linear time normalisation. The neural network labels the time-normalised phoneme-like segments 78.36% recognition accuracy is achieved for the phoneme-like unit. In the second design, no time normalisation is required. After segmentation, recognition is performed by classifying the data in a window as it is slid one frame at a time, from the start to the end of of each phoneme-like segment in the utterance. 73.97% recognition accuracy for the phoneme-like unit is achieved in this application. The parameters of the neural net have been optimised for maximum recognition performance. A segmentation strategy using the sum of the difference in filterbank channel energy over successive spectra produced 80.27% correct segmentation of isolated utterances into phoneme-like units. A linguistic processor based on that of Kashyap & Mittal [84] enables 93.11% and 93.49% word recognition accuracy to be achieved for the SS&L and 'Sliding Window' recognisers respectively. The linguistic processor has been redesigned to make it portable so that it can be easily applied to any phoneme based isolated word speech recogniser.This work is funded by the Ministry of Science & Technology, Government of Pakistan

A motion-based approach for audio-visual automatic speech recognition

The research work presented in this thesis introduces novel approaches for both visual region of interest extraction and visual feature extraction for use in audio-visual automatic speech recognition. In particular, the speaker‘s movement that occurs during speech is used to isolate the mouth region in video sequences and motionbased features obtained from this region are used to provide new visual features for audio-visual automatic speech recognition. The mouth region extraction approach proposed in this work is shown to give superior performance compared with existing colour-based lip segmentation methods. The new features are obtained from three separate representations of motion in the region of interest, namely the difference in luminance between successive images, block matching based motion vectors and optical flow. The new visual features are found to improve visual-only and audiovisual speech recognition performance when compared with the commonly-used appearance feature-based methods. In addition, a novel approach is proposed for visual feature extraction from either the discrete cosine transform or discrete wavelet transform representations of the mouth region of the speaker. In this work, the image transform is explored from a new viewpoint of data discrimination; in contrast to the more conventional data preservation viewpoint. The main findings of this work are that audio-visual automatic speech recognition systems using the new features extracted from the frequency bands selected according to their discriminatory abilities generally outperform those using features designed for data preservation. To establish the noise robustness of the new features proposed in this work, their performance has been studied in presence of a range of different types of noise and at various signal-to-noise ratios. In these experiments, the audio-visual automatic speech recognition systems based on the new approaches were found to give superior performance both to audio-visual systems using appearance based features and to audio-only speech recognition systems

Generalized Hidden Filter Markov Models Applied to Speaker Recognition

Classification of time series has wide Air Force, DoD and commercial interest, from automatic target recognition systems on munitions to recognition of speakers in diverse environments. The ability to effectively model the temporal information contained in a sequence is of paramount importance. Toward this goal, this research develops theoretical extensions to a class of stochastic models and demonstrates their effectiveness on the problem of text-independent (language constrained) speaker recognition. Specifically within the hidden Markov model architecture, additional constraints are implemented which better incorporate observation correlations and context, where standard approaches fail. Two methods of modeling correlations are developed, and their mathematical properties of convergence and reestimation are analyzed. These differ in modeling correlation present in the time samples and those present in the processed features, such as Mel frequency cepstral coefficients. The system models speaker dependent phonemes, making use of word dictionary grammars, and recognition is based on normalized log-likelihood Viterbi decoding. Both closed set identification and speaker verification using cohorts are performed on the YOHO database. YOHO is the only large scale, multiple-session, high-quality speech database for speaker authentication and contains over one hundred speakers stating combination locks. Equal error rates of 0.21% for males and 0.31% for females are demonstrated. A critical error analysis using a hypothesis test formulation provides the maximum number of errors observable while still meeting the goal error rates of 1% False Reject and 0.1% False Accept. Our system achieves this goal

Phonotactic probability and phonotactic constraints :processing and lexical segmentation by Arabic learners of English as a foreign language

PhD ThesisA fundamental skill in listening comprehension is the ability to recognize words. The ability to accurately locate word boundaries(i . e. to lexically segment) is an important contributor to this skill. Research has shown that English native speakers use various cues in the signal in lexical segmentation. One such cue is phonotactic constraints; more specifically, the presence of illegal English consonant sequences such as AV and MY signals word boundaries. It has also been shown that phonotactic probability (i. e. the frequency of segments and sequences of segments in words) affects native speakers' processing of English. However, the role that phonotactic probability and phonotactic constraints play in the EFL classroom has hardly been studied, while much attention has been devoted to teaching listening comprehension in EFL. This thesis reports on an intervention study which investigated the effect of teaching English phonotactics upon Arabic speakers' lexical segmentation of running speech in English. The study involved a native English group (N= 12), a non-native speaking control group (N= 20); and a non-native speaking experimental group (N=20). Each of the groups took three tests, namely Non-word Rating, Lexical Decision and Word Spotting. These tests probed how sensitive the subjects were to English phonotactic probability and to the presence of illegal sequences of phonemes in English and investigated whether they used these sequences in the lexical segmentation of English. The non-native groups were post-tested with the -same tasks after only the experimental group had been given a treatment which consisted of explicit teaching of relevant English phonotactic constraints and related activities for 8 weeks. The gains made by the experimental group are discussed, with implications for teaching both pronunciation and listening comprehension in an EFL setting.Qassim University, Saudi Arabia