GPS-GLASS: Learning Nighttime Semantic Segmentation Using Daytime Video and GPS data

Semantic segmentation for autonomous driving should be robust against various in-the-wild environments. Nighttime semantic segmentation is especially challenging due to a lack of annotated nighttime images and a large domain gap from daytime images with sufficient annotation. In this paper, we propose a novel GPS-based training framework for nighttime semantic segmentation. Given GPS-aligned pairs of daytime and nighttime images, we perform cross-domain correspondence matching to obtain pixel-level pseudo supervision. Moreover, we conduct flow estimation between daytime video frames and apply GPS-based scaling to acquire another pixel-level pseudo supervision. Using these pseudo supervisions with a confidence map, we train a nighttime semantic segmentation network without any annotation from nighttime images. Experimental results demonstrate the effectiveness of the proposed method on several nighttime semantic segmentation datasets. Our source code is available at https://github.com/jimmy9704/GPS-GLASS.

Streaming end-to-end speech recognition with jointly trained neural feature enhancement

In this paper, we present a streaming end-to-end speech recognition model based on Monotonic Chunkwise Attention (MoCha) jointly trained with enhancement layers. Even though the MoCha attention enables streaming speech recognition with recognition accuracy comparable to a full attention-based approach, training this model is sensitive to various factors such as the difficulty of training examples, hyper-parameters, and so on. Because of these issues, speech recognition accuracy of a MoCha-based model for clean speech drops significantly when a multi-style training approach is applied. Inspired by Curriculum Learning [1], we introduce two training strategies: Gradual Application of Enhanced Features (GAEF) and Gradual Reduction of Enhanced Loss (GREL). With GAEF, the model is initially trained using clean features. Subsequently, the portion of outputs from the enhancement layers gradually increases. With GREL, the portion of the Mean Squared Error (MSE) loss for the enhanced output gradually reduces as training proceeds. In experimental results on the LibriSpeech corpus and noisy far-field test sets, the proposed model with GAEF-GREL training strategies shows significantly better results than the conventional multi-style training approach.

A review of on-device fully neural end-to-end automatic speech recognition algorithms

In this paper, we review various end-to-end automatic speech recognition algorithms and their optimization techniques for on-device applications. Conventional speech recognition systems comprise a large number of discrete components such as an acoustic model, a language model, a pronunciation model, a text-normalizer, an inverse-text normalizer, a decoder based on a Weighted Finite State Transducer (WFST), and so on. To obtain sufficiently high speech recognition accuracy with such conventional speech recognition systems, a very large language model (up to 100 GB) is usually needed. Hence, the corresponding WFST size becomes enormous, which prohibits their on-device implementation. Recently, fully neural network end-to-end speech recognition algorithms have been proposed. Examples include speech recognition systems based on Connectionist Temporal Classification (CTC), Recurrent Neural Network Transducer (RNN-T), Attention-based Encoder-Decoder models (AED), Monotonic Chunk-wise Attention (MoChA), transformer-based speech recognition systems, and so on. These fully neural network-based systems require much smaller memory footprints compared to conventional algorithms, therefore their on-device implementation has become feasible. In this paper, we review such end-to-end speech recognition models. We extensively discuss their structures, performance, and advantages compared to conventional algorithms.

end-to-end training of a large vocabulary end-to-end speech recognition system

In this paper, we present an end-to-end training framework for building state-of-the-art end-to-end speech recognition systems. Our training system utilizes a cluster of Central Processing Units(CPUs) and Graphics Processing Units (GPUs). The entire data reading, large scale data augmentation, neural network parameter updates are all performed "on-the-fly". We use vocal tract length perturbation [1] and an acoustic simulator [2] for data augmentation. The processed features and labels are sent to the GPU cluster. The Horovod allreduce approach is employed to train neural network parameters. We evaluated the effectiveness of our system on the standard Librispeech corpus [3] and the 10,000-hr anonymized Bixby English dataset. Our end-to-end speech recognition system built using this training infrastructure showed a 2.44 % WER on test-clean of the LibriSpeech test set after applying shallow fusion with a Transformer language model (LM). For the proprietary English Bixby open domain test set, we obtained a WER of 7.92 % using a Bidirectional Full Attention (BFA) end-to-end model after applying shallow fusion with an RNN-LM. When the monotonic chunckwise attention (MoCha) based approach is employed for streaming speech recognition, we obtained a WER of 9.95 % on the same Bixby open domain test set.