Multi-layer attentive probing improves transfer of audio representations for bioacoustics

Probing heads map the representations learned from audio by a machine learning model to downstream task labels and are a key component in evaluating representation learning. Most bioacoustic benchmarks use a fixed, low-capacity probe, such as a linear layer on the final encoder layer. While this standardization enables model comparisons, it may bias results by overlooking the interaction between encoder features and probe design. In this work, we systematically study different probing strategies across two bioacoustic benchmarks, BEANs and BirdSet. We evaluate last- and multi-layer probing, across linear and attention probes. We show that larger probe heads that leverage time information have superior performance. Our results suggest that current benchmarks may misrepresent encoder quality when relying on a last-layer probing setup. Multi-layer probing improves downstream task performance across all tested models, while attention probing has superior performance to linear probing for transformer models.

Robust detection of overlapping bioacoustic sound events

We propose a method for accurately detecting bioacoustic sound events that is robust to overlapping events, a common issue in domains such as ethology, ecology and conservation. While standard methods employ a frame-based, multi-label approach, we introduce an onset-based detection method which we name Voxaboxen. It takes inspiration from object detection methods in computer vision, but simultaneously takes advantage of recent advances in self-supervised audio encoders. For each time window, Voxaboxen predicts whether it contains the start of a vocalization and how long the vocalization is. It also does the same in reverse, predicting whether each window contains the end of a vocalization, and how long ago it started. The two resulting sets of bounding boxes are then fused using a graph-matching algorithm. We also release a new dataset designed to measure performance on detecting overlapping vocalizations. This consists of recordings of zebra finches annotated with temporally-strong labels and showing frequent overlaps. We test Voxaboxen on seven existing data sets and on our new data set. We compare Voxaboxen to natural baselines and existing sound event detection methods and demonstrate SotA results. Further experiments show that improvements are robust to frequent vocalization overlap.

Learning More With Less: Sample Efficient Dynamics Learning and Model-Based RL for Loco-Manipulation

Combining the agility of legged locomotion with the capabilities of manipulation, loco-manipulation platforms have the potential to perform complex tasks in real-world applications. To this end, state-of-the-art quadrupeds with attached manipulators, such as the Boston Dynamics Spot, have emerged to provide a capable and robust platform. However, both the complexity of loco-manipulation control, as well as the black-box nature of commercial platforms pose challenges for developing accurate dynamics models and control policies. We address these challenges by developing a hand-crafted kinematic model for a quadruped-with-arm platform and, together with recent advances in Bayesian Neural Network (BNN)-based dynamics learning using physical priors, efficiently learn an accurate dynamics model from data. We then derive control policies for loco-manipulation via model-based reinforcement learning (RL). We demonstrate the effectiveness of this approach on hardware using the Boston Dynamics Spot with a manipulator, accurately performing dynamic end-effector trajectory tracking even in low data regimes.

Biodenoising: animal vocalization denoising without access to clean data

Animal vocalization denoising is a task similar to human speech enhancement, a well-studied field of research. In contrast to the latter, it is applied to a higher diversity of sound production mechanisms and recording environments, and this higher diversity is a challenge for existing models. Adding to the challenge and in contrast to speech, we lack large and diverse datasets comprising clean vocalizations. As a solution we use as training data pseudo-clean targets, i.e. pre-denoised vocalizations, and segments of background noise without a vocalization. We propose a train set derived from bioacoustics datasets and repositories representing diverse species, acoustic environments, geographic regions. Additionally, we introduce a non-overlapping benchmark set comprising clean vocalizations from different taxa and noise samples. We show that that denoising models (demucs, CleanUNet) trained on pseudo-clean targets obtained with speech enhancement models achieve competitive results on the benchmarking set. We publish data, code, libraries, and demos https://mariusmiron.com/research/biodenoising.

A benchmark for computational analysis of animal behavior, using animal-borne tags

Animal-borne sensors ('bio-loggers') can record a suite of kinematic and environmental data, which can elucidate animal ecophysiology and improve conservation efforts. Machine learning techniques are useful for interpreting the large amounts of data recorded by bio-loggers, but there exists no standard for comparing the different machine learning techniques in this domain. To address this, we present the Bio-logger Ethogram Benchmark (BEBE), a collection of datasets with behavioral annotations, standardized modeling tasks, and evaluation metrics. BEBE is to date the largest, most taxonomically diverse, publicly available benchmark of this type, and includes 1654 hours of data collected from 149 individuals across nine taxa. We evaluate the performance of ten different machine learning methods on BEBE, and identify key challenges to be addressed in future work. Datasets, models, and evaluation code are made publicly available at https://github.com/earthspecies/BEBE, to enable community use of BEBE as a point of comparison in methods development.