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

Semi-supervised and Active-learning Scenarios: Efficient Acoustic Model Refinement for a Low Resource Indian Language

We address the problem of efficient acoustic-model refinement (continuous retraining) using semi-supervised and active learning for a low resource Indian language, wherein the low resource constraints are having i) a small labeled corpus from which to train a baseline `seed' acoustic model and ii) a large training corpus without orthographic labeling or from which to perform a data selection for manual labeling at low costs. The proposed semi-supervised learning decodes the unlabeled large training corpus using the seed model and through various protocols, selects the decoded utterances with high reliability using confidence levels (that correlate to the WER of the decoded utterances) and iterative bootstrapping. The proposed active learning protocol uses confidence level based metric to select the decoded utterances from the large unlabeled corpus for further labeling. The semi-supervised learning protocols can offer a WER reduction, from a poorly trained seed model, by as much as 50% of the best WER-reduction realizable from the seed model's WER, if the large corpus were labeled and used for acoustic-model training. The active learning protocols allow that only 60% of the entire training corpus be manually labeled, to reach the same performance as the entire data

Deep Learning: Our Miraculous Year 1990-1991

In 2020, we will celebrate that many of the basic ideas behind the deep learning revolution were published three decades ago within fewer than 12 months in our "Annus Mirabilis" or "Miraculous Year" 1990-1991 at TU Munich. Back then, few people were interested, but a quarter century later, neural networks based on these ideas were on over 3 billion devices such as smartphones, and used many billions of times per day, consuming a significant fraction of the world's compute.Comment: 37 pages, 188 references, based on work of 4 Oct 201

ORCA-SPOT: An Automatic Killer Whale Sound Detection Toolkit Using Deep Learning

Large bioacoustic archives of wild animals are an important source to identify reappearing communication patterns, which can then be related to recurring behavioral patterns to advance the current understanding of intra-specific communication of non-human animals. A main challenge remains that most large-scale bioacoustic archives contain only a small percentage of animal vocalizations and a large amount of environmental noise, which makes it extremely difficult to manually retrieve sufficient vocalizations for further analysis – particularly important for species with advanced social systems and complex vocalizations. In this study deep neural networks were trained on 11,509 killer whale (Orcinus orca) signals and 34,848 noise segments. The resulting toolkit ORCA-SPOT was tested on a large-scale bioacoustic repository – the Orchive – comprising roughly 19,000 hours of killer whale underwater recordings. An automated segmentation of the entire Orchive recordings (about 2.2 years) took approximately 8 days. It achieved a time-based precision or positive-predictive-value (PPV) of 93.2% and an area-under-the-curve (AUC) of 0.9523. This approach enables an automated annotation procedure of large bioacoustics databases to extract killer whale sounds, which are essential for subsequent identification of significant communication patterns. The code will be publicly available in October 2019 to support the application of deep learning to bioaoucstic research. ORCA-SPOT can be adapted to other animal species

Learning weakly supervised multimodal phoneme embeddings

Recent works have explored deep architectures for learning multimodal speech representation (e.g. audio and images, articulation and audio) in a supervised way. Here we investigate the role of combining different speech modalities, i.e. audio and visual information representing the lips movements, in a weakly supervised way using Siamese networks and lexical same-different side information. In particular, we ask whether one modality can benefit from the other to provide a richer representation for phone recognition in a weakly supervised setting. We introduce mono-task and multi-task methods for merging speech and visual modalities for phone recognition. The mono-task learning consists in applying a Siamese network on the concatenation of the two modalities, while the multi-task learning receives several different combinations of modalities at train time. We show that multi-task learning enhances discriminability for visual and multimodal inputs while minimally impacting auditory inputs. Furthermore, we present a qualitative analysis of the obtained phone embeddings, and show that cross-modal visual input can improve the discriminability of phonological features which are visually discernable (rounding, open/close, labial place of articulation), resulting in representations that are closer to abstract linguistic features than those based on audio only