Training Wake Word Detection with Synthesized Speech Data on Confusion Words

Confusing-words are commonly encountered in real-life keyword spotting applications, which causes severe degradation of performance due to complex spoken terms and various kinds of words that sound similar to the predefined keywords. To enhance the wake word detection system's robustness on such scenarios, we investigate two data augmentation setups for training end-to-end KWS systems. One is involving the synthesized data from a multi-speaker speech synthesis system, and the other augmentation is performed by adding random noise to the acoustic feature. Experimental results show that augmentations help improve the system's robustness. Moreover, by augmenting the training set with the synthetic data generated by the multi-speaker text-to-speech system, we achieve a significant improvement regarding confusing words scenario.

Domain Aware Training for Far-field Small-footprint Keyword Spotting

In this paper, we focus on the task of small-footprint keyword spotting under the far-field scenario. Far-field environments are commonly encountered in real-life speech applications, causing severe degradation of performance due to room reverberation and various kinds of noises. Our baseline system is built on the convolutional neural network trained with pooled data of both far-field and close-talking speech. To cope with the distortions, we develop three domain aware training systems, including the domain embedding system, the deep CORAL system, and the multi-task learning system. These methods incorporate domain knowledge into network training and improve the performance of the keyword classifier on far-field conditions. Experimental results show that our proposed methods manage to maintain the performance on the close-talking speech and achieve significant improvement on the far-field test set.

Mutli-task Learning with Alignment Loss for Far-field Small-Footprint Keyword Spotting

In this paper, we focus on the task of small-footprint keyword spotting under the far-field scenario. Far-field environments are commonly encountered in real-life speech applications, and it causes serve degradation of performance due to room reverberation and various kinds of noises. Our baseline system is built on the convolutional neural network trained with pooled data of both far-field and close-talking speech. To cope with the distortions, we adopt the multi-task learning scheme with alignment loss to reduce the mismatch between the embedding features learned from different domains of data. Experimental results show that our proposed method maintains the performance on close-talking speech and achieves significant improvement on the far-field test set.

CPG-Based Control Scheme for Quadruped Robot to Withstand the Lateral Impact

This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern Generator (CPG) network with Hopf oscillators is then extended to eight-neuron network with four more trigger-enabled neurons, which controls the lateral trot. With proper adjustment of network's parameters, such network can coordinate the lateral and longitudinal trot gait. Based on Zero Movement Point (ZMP) theory, the robot is modeled as an inverted pendulum to plan the Center of Gravity (CoG) position and calculate the needed lateral step length. The simulation shows that the lateral acceleration of the quadruped robot after lateral impact regains to the normal range in a short time. Comparison shows that the maximal lateral impact that robot can resist increases about 125% from 0.72g to 1.55g.