Signage-Aware Exploration in Open World using Venue Maps

Current exploration methods struggle to search for shops in unknown open-world environments due to a lack of prior knowledge and text recognition capabilities. Venue maps offer valuable information that can aid exploration planning by correlating scene signage with map data. However, the arbitrary shapes and styles of the text on signage, along with multi-view inconsistencies, pose significant challenges for accurate recognition by robots. Additionally, the discrepancies between real-world environments and venue maps hinder the incorporation of text information into planners. This paper introduces a novel signage-aware exploration system to address these challenges, enabling the robot to utilize venue maps effectively. We propose a signage understanding method that accurately detects and recognizes the text on signage using a diffusion-based text instance retrieval method combined with a 2D-to-3D semantic fusion strategy. Furthermore, we design a venue map-guided exploration-exploitation planner that balances exploration in unknown regions using a directional heuristic derived from venue maps with exploitation to get close and adjust orientation for better recognition. Experiments in large-scale shopping malls demonstrate our method's superior signage recognition accuracy and coverage efficiency, outperforming state-of-the-art scene text spotting methods and traditional exploration methods.

Semisupervised Neural Proto-Language Reconstruction

Existing work implementing comparative reconstruction of ancestral languages (proto-languages) has usually required full supervision. However, historical reconstruction models are only of practical value if they can be trained with a limited amount of labeled data. We propose a semisupervised historical reconstruction task in which the model is trained on only a small amount of labeled data (cognate sets with proto-forms) and a large amount of unlabeled data (cognate sets without proto-forms). We propose a neural architecture for comparative reconstruction (DPD-BiReconstructor) incorporating an essential insight from linguists' comparative method: that reconstructed words should not only be reconstructable from their daughter words, but also deterministically transformable back into their daughter words. We show that this architecture is able to leverage unlabeled cognate sets to outperform strong semisupervised baselines on this novel task.

Improved Neural Protoform Reconstruction via Reflex Prediction

Protolanguage reconstruction is central to historical linguistics. The comparative method, one of the most influential theoretical and methodological frameworks in the history of the language sciences, allows linguists to infer protoforms (reconstructed ancestral words) from their reflexes (related modern words) based on the assumption of regular sound change. Not surprisingly, numerous computational linguists have attempted to operationalize comparative reconstruction through various computational models, the most successful of which have been supervised encoder-decoder models, which treat the problem of predicting protoforms given sets of reflexes as a sequence-to-sequence problem. We argue that this framework ignores one of the most important aspects of the comparative method: not only should protoforms be inferable from cognate sets (sets of related reflexes) but the reflexes should also be inferable from the protoforms. Leveraging another line of research -- reflex prediction -- we propose a system in which candidate protoforms from a reconstruction model are reranked by a reflex prediction model. We show that this more complete implementation of the comparative method allows us to surpass state-of-the-art protoform reconstruction methods on three of four Chinese and Romance datasets.

Disturbance Rejection Control for Autonomous Trolley Collection Robots with Prescribed Performance

Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.

Endpoint Detection for Streaming End-to-End Multi-talker ASR

Streaming end-to-end multi-talker speech recognition aims at transcribing the overlapped speech from conversations or meetings with an all-neural model in a streaming fashion, which is fundamentally different from a modular-based approach that usually cascades the speech separation and the speech recognition models trained independently. Previously, we proposed the Streaming Unmixing and Recognition Transducer (SURT) model based on recurrent neural network transducer (RNN-T) for this problem and presented promising results. However, for real applications, the speech recognition system is also required to determine the timestamp when a speaker finishes speaking for prompt system response. This problem, known as endpoint (EP) detection, has not been studied previously for multi-talker end-to-end models. In this work, we address the EP detection problem in the SURT framework by introducing an end-of-sentence token as an output unit, following the practice of single-talker end-to-end models. Furthermore, we also present a latency penalty approach that can significantly cut down the EP detection latency. Our experimental results based on the 2-speaker LibrispeechMix dataset show that the SURT model can achieve promising EP detection without significantly degradation of the recognition accuracy.

Continuous Streaming Multi-Talker ASR with Dual-path Transducers

Streaming recognition of multi-talker conversations has so far been evaluated only for 2-speaker single-turn sessions. In this paper, we investigate it for multi-turn meetings containing multiple speakers using the Streaming Unmixing and Recognition Transducer (SURT) model, and show that naively extending the single-turn model to this harder setting incurs a performance penalty. As a solution, we propose the dual-path (DP) modeling strategy first used for time-domain speech separation. We experiment with LSTM and Transformer based DP models, and show that they improve word error rate (WER) performance while yielding faster convergence. We also explore training strategies such as chunk width randomization and curriculum learning for these models, and demonstrate their importance through ablation studies. Finally, we evaluate our models on the LibriCSS meeting data, where they perform competitively with offline separation-based methods.

Minimum Word Error Rate Training with Language Model Fusion for End-to-End Speech Recognition

Integrating external language models (LMs) into end-to-end (E2E) models remains a challenging task for domain-adaptive speech recognition. Recently, internal language model estimation (ILME)-based LM fusion has shown significant word error rate (WER) reduction from Shallow Fusion by subtracting a weighted internal LM score from an interpolation of E2E model and external LM scores during beam search. However, on different test sets, the optimal LM interpolation weights vary over a wide range and have to be tuned extensively on well-matched validation sets. In this work, we perform LM fusion in the minimum WER (MWER) training of an E2E model to obviate the need for LM weights tuning during inference. Besides MWER training with Shallow Fusion (MWER-SF), we propose a novel MWER training with ILME (MWER-ILME) where the ILME-based fusion is conducted to generate N-best hypotheses and their posteriors. Additional gradient is induced when internal LM is engaged in MWER-ILME loss computation. During inference, LM weights pre-determined in MWER training enable robust LM integrations on test sets from different domains. Experimented with 30K-hour trained transformer transducers, MWER-ILME achieves on average 8.8% and 5.8% relative WER reductions from MWER and MWER-SF training, respectively, on 6 different test sets

Streaming Multi-talker Speech Recognition with Joint Speaker Identification

In multi-talker scenarios such as meetings and conversations, speech processing systems are usually required to transcribe the audio as well as identify the speakers for downstream applications. Since overlapped speech is common in this case, conventional approaches usually address this problem in a cascaded fashion that involves speech separation, speech recognition and speaker identification that are trained independently. In this paper, we propose Streaming Unmixing, Recognition and Identification Transducer (SURIT) -- a new framework that deals with this problem in an end-to-end streaming fashion. SURIT employs the recurrent neural network transducer (RNN-T) as the backbone for both speech recognition and speaker identification. We validate our idea on the LibrispeechMix dataset -- a multi-talker dataset derived from Librispeech, and present encouraging results.

Internal Language Model Training for Domain-Adaptive End-to-End Speech Recognition

The efficacy of external language model (LM) integration with existing end-to-end (E2E) automatic speech recognition (ASR) systems can be improved significantly using the internal language model estimation (ILME) method. In this method, the internal LM score is subtracted from the score obtained by interpolating the E2E score with the external LM score, during inference. To improve the ILME-based inference, we propose an internal LM training (ILMT) method to minimize an additional internal LM loss by updating only the E2E model components that affect the internal LM estimation. ILMT encourages the E2E model to form a standalone LM inside its existing components, without sacrificing ASR accuracy. After ILMT, the more modular E2E model with matched training and inference criteria enables a more thorough elimination of the source-domain internal LM, and therefore leads to a more effective integration of the target-domain external LM. Experimented with 30K-hour trained recurrent neural network transducer and attention-based encoder-decoder models, ILMT with ILME-based inference achieves up to 31.5% and 11.4% relative word error rate reductions from standard E2E training with Shallow Fusion on out-of-domain LibriSpeech and in-domain Microsoft production test sets, respectively.

Streaming end-to-end multi-talker speech recognition

End-to-end multi-talker speech recognition is an emerging research trend in the speech community due to its vast potential in applications such as conversation and meeting transcriptions. To the best of our knowledge, all existing research works are constrained in the offline scenario. In this work, we propose the Streaming Unmixing and Recognition Transducer (SURT) for end-to-end multi-talker speech recognition. Our model employs the Recurrent Neural Network Transducer as the backbone that can meet various latency constraints. We study two different model architectures that are based on a speaker-differentiator encoder and a mask encoder respectively. To train this model, we investigate the widely used Permutation Invariant Training (PIT) approach and the recently introduced Heuristic Error Assignment Training (HEAT) approach. Based on experiments on the publicly available LibriSpeechMix dataset, we show that HEAT can achieve better accuracy compared with PIT, and the SURT model with 120 milliseconds algorithmic latency constraint compares favorably with the offline sequence-to-sequence based baseline model in terms of accuracy.