Abstract
In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Workshop on Robot and Human Interactive Communication |
| Pages | 1078-1085 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| Event | 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris Duration: 2012 Sep 9 → 2012 Sep 13 |
Other
| Other | 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 |
|---|---|
| City | Paris |
| Period | 12/9/9 → 12/9/13 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Human-Computer Interaction
Cite this
An active audition framework for auditory-driven HRI : Application to interactive robot dancing. / Oliveira, Joao Lobato; Ince, Gokhan; Nakamura, Keisuke; Nakadai, Kazuhiro; Okuno, Hiroshi G.; Reis, Luis Paulo; Gouyon, Fabien.
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2012. p. 1078-1085 6343892.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An active audition framework for auditory-driven HRI
T2 - Application to interactive robot dancing
AU - Oliveira, Joao Lobato
AU - Ince, Gokhan
AU - Nakamura, Keisuke
AU - Nakadai, Kazuhiro
AU - Okuno, Hiroshi G.
AU - Reis, Luis Paulo
AU - Gouyon, Fabien
PY - 2012
Y1 - 2012
N2 - In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction.
AB - In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction.
UR - http://www.scopus.com/inward/record.url?scp=84870795054&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84870795054&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2012.6343892
DO - 10.1109/ROMAN.2012.6343892
M3 - Conference contribution
SN - 9781467346054
SP - 1078
EP - 1085
BT - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
ER -