This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication constraints, implying that each agent can only exchange information with a limited number of neighboring agents. On the underlying graph of the network, each agent implements its control input depending on its nearby neighbors' states in the linear quadratic control setting. We show that it is possible to approximate the exact gradient only using local information. Compared with the centralized optimal controller, the performance gap decreases to zero exponentially as the communication and control ranges increase. We also demonstrate how increasing the communication range enhances system stability in the gradient descent process, thereby elucidating a critical trade-off. The simulation results verify our theoretical findings.
Recently, leveraging BERT pre-training to improve the phoneme encoder in text to speech (TTS) has drawn increasing attention. However, the works apply pre-training with character-based units to enhance the TTS phoneme encoder, which is inconsistent with the TTS fine-tuning that takes phonemes as input. Pre-training only with phonemes as input can alleviate the input mismatch but lack the ability to model rich representations and semantic information due to limited phoneme vocabulary. In this paper, we propose MixedPhoneme BERT, a novel variant of the BERT model that uses mixed phoneme and sup-phoneme representations to enhance the learning capability. Specifically, we merge the adjacent phonemes into sup-phonemes and combine the phoneme sequence and the merged sup-phoneme sequence as the model input, which can enhance the model capacity to learn rich contextual representations. Experiment results demonstrate that our proposed Mixed-Phoneme BERT significantly improves the TTS performance with 0.30 CMOS gain compared with the FastSpeech 2 baseline. The Mixed-Phoneme BERT achieves 3x inference speedup and similar voice quality to the previous TTS pre-trained model PnG BERT
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain measure of success, most of them require precise global information which is not accessible in harsh environments. On the other hand, some reinforcement learning (RL) based approaches adopt the leader-follower structure to organize different agents' behaviors, which sacrifices the collaboration between agents thus suffering from bottlenecks in maneuverability and robustness. In this paper, we propose a distributed formation and obstacle avoidance method based on multi-agent reinforcement learning (MARL). Agents in our system only utilize local and relative information to make decisions and control themselves distributively. Agent in the multi-agent system will reorganize themselves into a new topology quickly in case that any of them is disconnected. Our method achieves better performance regarding formation error, formation convergence rate and on-par success rate of obstacle avoidance compared with baselines (both classic control methods and another RL-based method). The feasibility of our method is verified by both simulation and hardware implementation with Ackermann-steering vehicles.
As the cornerstone of other important technologies, such as speech recognition and speech synthesis, speech enhancement is a critical area in audio signal processing. In this paper, a new deep learning structure for speech enhancement is demonstrated. The model introduces a "full" attention mechanism to a bidirectional sequence-to-sequence method to make use of latent information after each focal frame. This is an extension of the previous attention-based RNN method. The proposed bidirectional attention-based architecture achieves better performance in terms of speech quality (PESQ), compared with OM-LSA, CNN-LSTM, T-GSA and the unidirectional attention-based LSTM baseline.
While recent text to speech (TTS) models perform very well in synthesizing reading-style (e.g., audiobook) speech, it is still challenging to synthesize spontaneous-style speech (e.g., podcast or conversation), mainly because of two reasons: 1) the lack of training data for spontaneous speech; 2) the difficulty in modeling the filled pauses (um and uh) and diverse rhythms in spontaneous speech. In this paper, we develop AdaSpeech 3, an adaptive TTS system that fine-tunes a well-trained reading-style TTS model for spontaneous-style speech. Specifically, 1) to insert filled pauses (FP) in the text sequence appropriately, we introduce an FP predictor to the TTS model; 2) to model the varying rhythms, we introduce a duration predictor based on mixture of experts (MoE), which contains three experts responsible for the generation of fast, medium and slow speech respectively, and fine-tune it as well as the pitch predictor for rhythm adaptation; 3) to adapt to other speaker timbre, we fine-tune some parameters in the decoder with few speech data. To address the challenge of lack of training data, we mine a spontaneous speech dataset to support our research this work and facilitate future research on spontaneous TTS. Experiments show that AdaSpeech 3 synthesizes speech with natural FP and rhythms in spontaneous styles, and achieves much better MOS and SMOS scores than previous adaptive TTS systems.
Text to speech (TTS) is widely used to synthesize personal voice for a target speaker, where a well-trained source TTS model is fine-tuned with few paired adaptation data (speech and its transcripts) on this target speaker. However, in many scenarios, only untranscribed speech data is available for adaptation, which brings challenges to the previous TTS adaptation pipelines (e.g., AdaSpeech). In this paper, we develop AdaSpeech 2, an adaptive TTS system that only leverages untranscribed speech data for adaptation. Specifically, we introduce a mel-spectrogram encoder to a well-trained TTS model to conduct speech reconstruction, and at the same time constrain the output sequence of the mel-spectrogram encoder to be close to that of the original phoneme encoder. In adaptation, we use untranscribed speech data for speech reconstruction and only fine-tune the TTS decoder. AdaSpeech 2 has two advantages: 1) Pluggable: our system can be easily applied to existing trained TTS models without re-training. 2) Effective: our system achieves on-par voice quality with the transcribed TTS adaptation (e.g., AdaSpeech) with the same amount of untranscribed data, and achieves better voice quality than previous untranscribed adaptation methods. Synthesized speech samples can be found at https://speechresearch.github.io/adaspeech2/.