MelGlow: Efficient Waveform Generative Network Based on Location-Variable Convolution

Recent neural vocoders usually use a WaveNet-like network to capture the long-term dependencies of the waveform, but a large number of parameters are required to obtain good modeling capabilities. In this paper, an efficient network, named location-variable convolution, is proposed to model the dependencies of waveforms. Different from the use of unified convolution kernels in WaveNet to capture the dependencies of arbitrary waveforms, location-variable convolutions utilizes a kernel predictor to generate multiple sets of convolution kernels based on the mel-spectrum, where each set of convolution kernels is used to perform convolution operations on the associated waveform intervals. Combining WaveGlow and location-variable convolutions, an efficient vocoder, named MelGlow, is designed. Experiments on the LJSpeech dataset show that MelGlow achieves better performance than WaveGlow at small model sizes, which verifies the effectiveness and potential optimization space of location-variable convolutions.

GraphPB: Graphical Representations of Prosody Boundary in Speech Synthesis

This paper introduces a graphical representation approach of prosody boundary (GraphPB) in the task of Chinese speech synthesis, intending to parse the semantic and syntactic relationship of input sequences in a graphical domain for improving the prosody performance. The nodes of the graph embedding are formed by prosodic words, and the edges are formed by the other prosodic boundaries, namely prosodic phrase boundary (PPH) and intonation phrase boundary (IPH). Different Graph Neural Networks (GNN) like Gated Graph Neural Network (GGNN) and Graph Long Short-term Memory (G-LSTM) are utilised as graph encoders to exploit the graphical prosody boundary information. Graph-to-sequence model is proposed and formed by a graph encoder and an attentional decoder. Two techniques are proposed to embed sequential information into the graph-to-sequence text-to-speech model. The experimental results show that this proposed approach can encode the phonetic and prosody rhythm of an utterance. The mean opinion score (MOS) of these GNN models shows comparative results with the state-of-the-art sequence-to-sequence models with better performance in the aspect of prosody. This provides an alternative approach for prosody modelling in end-to-end speech synthesis.

Robot Task Planning for Low Entropy Belief States

Recent advances in computational perception have significantly improved the ability of autonomous robots to perform state estimation with low entropy. Such advances motivate a reconsideration of robot decision-making under uncertainty. Current approaches to solving sequential decision-making problems model states as inhabiting the extremes of the perceptual entropy spectrum. As such, these methods are either incapable of overcoming perceptual errors or asymptotically inefficient in solving problems with low perceptual entropy. With low entropy perception in mind, we aim to explore a happier medium that balances computational efficiency with the forms of uncertainty we now observe from modern robot perception. We propose FastDownward Replanner (FD-Replan) as an efficient task planning method for goal-directed robot reasoning. FD-Replan combines belief space representation with the fast, goal-directed features of classical planning to efficiently plan for low entropy goal-directed reasoning tasks. We compare FD-Replan with current classical planning and belief space planning approaches by solving low entropy goal-directed grocery packing tasks in simulation. FD-Replan shows positive results and promise with respect to planning time, execution time, and task success rate in our simulation experiments.

Visual Forecasting of Time Series with Image-to-Image Regression

Time series forecasting is essential for agents to make decisions in many domains. Existing models rely on classical statistical methods to predict future values based on previously observed numerical information. Yet, practitioners often rely on visualizations such as charts and plots to reason about their predictions. Inspired by the end-users, we re-imagine the topic by creating a framework to produce visual forecasts, similar to the way humans intuitively do. In this work, we take a novel approach by leveraging advances in deep learning to extend the field of time series forecasting to a visual setting. We do this by transforming the numerical analysis problem into the computer vision domain. Using visualizations of time series data as input, we train a convolutional autoencoder to produce corresponding visual forecasts. We examine various synthetic and real datasets with diverse degrees of complexity. Our experiments show that visual forecasting is effective for cyclic data but somewhat less for irregular data such as stock price. Importantly, we find the proposed visual forecasting method to outperform numerical baselines. We attribute the success of the visual forecasting approach to the fact that we convert the continuous numerical regression problem into a discrete domain with quantization of the continuous target signal into pixel space.

Manipulation-Oriented Object Perception in Clutter through Affordance Coordinate Frames

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel containers which afford the task. Most importantly, robots should be able to manipulate these novel containers to fulfill the task. To achieve this, we aim to provide robust and generalized perception of object affordances and their associated manipulation poses for reliable manipulation. In this work, we combine the notions of affordance and category-level pose, and introduce the Affordance Coordinate Frame (ACF). With ACF, we represent each object class in terms of individual affordance parts and the compatibility between them, where each part is associated with a part category-level pose for robot manipulation. In our experiments, we demonstrate that ACF outperforms state-of-the-art methods for object detection, as well as category-level pose estimation for object parts. We further demonstrate the applicability of ACF to robot manipulation tasks through experiments in a simulated environment.

Prosody Learning Mechanism for Speech Synthesis System Without Text Length Limit

Recent neural speech synthesis systems have gradually focused on the control of prosody to improve the quality of synthesized speech, but they rarely consider the variability of prosody and the correlation between prosody and semantics together. In this paper, a prosody learning mechanism is proposed to model the prosody of speech based on TTS system, where the prosody information of speech is extracted from the melspectrum by a prosody learner and combined with the phoneme sequence to reconstruct the mel-spectrum. Meanwhile, the sematic features of text from the pre-trained language model is introduced to improve the prosody prediction results. In addition, a novel self-attention structure, named as local attention, is proposed to lift this restriction of input text length, where the relative position information of the sequence is modeled by the relative position matrices so that the position encodings is no longer needed. Experiments on English and Mandarin show that speech with more satisfactory prosody has obtained in our model. Especially in Mandarin synthesis, our proposed model outperforms baseline model with a MOS gap of 0.08, and the overall naturalness of the synthesized speech has been significantly improved.

Semantic Linking Maps for Active Visual Object Search

We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the search space significantly. More specifically, we can exploit background knowledge about common spatial relations between landmark and target objects. For example, seeing a table and knowing that cups can often be found on tables aids the discovery of a cup. Such correlations can be expressed as distributions over possible pairing relationships of objects. In this paper, we propose an active visual object search strategy method through our introduction of the Semantic Linking Maps (SLiM) model. SLiM simultaneously maintains the belief over a target object's location as well as landmark objects' locations, while accounting for probabilistic inter-object spatial relations. Based on SLiM, we describe a hybrid search strategy that selects the next best view pose for searching for the target object based on the maintained belief. We demonstrate the efficiency of our SLiM-based search strategy through comparative experiments in simulated environments. We further demonstrate the real-world applicability of SLiM-based search in scenarios with a Fetch mobile manipulation robot.

AlignTTS: Efficient Feed-Forward Text-to-Speech System without Explicit Alignment

Targeting at both high efficiency and performance, we propose AlignTTS to predict the mel-spectrum in parallel. AlignTTS is based on a Feed-Forward Transformer which generates mel-spectrum from a sequence of characters, and the duration of each character is determined by a duration predictor.Instead of adopting the attention mechanism in Transformer TTS to align text to mel-spectrum, the alignment loss is presented to consider all possible alignments in training by use of dynamic programming. Experiments on the LJSpeech dataset show that our model achieves not only state-of-the-art performance which outperforms Transformer TTS by 0.03 in mean option score (MOS), but also a high efficiency which is more than 50 times faster than real-time.

GraphTTS: graph-to-sequence modelling in neural text-to-speech

This paper leverages the graph-to-sequence method in neural text-to-speech (GraphTTS), which maps the graph embedding of the input sequence to spectrograms. The graphical inputs consist of node and edge representations constructed from input texts. The encoding of these graphical inputs incorporates syntax information by a GNN encoder module. Besides, applying the encoder of GraphTTS as a graph auxiliary encoder (GAE) can analyse prosody information from the semantic structure of texts. This can remove the manual selection of reference audios process and makes prosody modelling an end-to-end procedure. Experimental analysis shows that GraphTTS outperforms the state-of-the-art sequence-to-sequence models by 0.24 in Mean Opinion Score (MOS). GAE can adjust the pause, ventilation and tones of synthesised audios automatically. This experimental conclusion may give some inspiration to researchers working on improving speech synthesis prosody.

A Random Interaction Forest for Prioritizing Predictive Biomarkers

Precision medicine is becoming a focus in medical research recently, as its implementation brings values to all stakeholders in the healthcare system. Various statistical methodologies have been developed tackling problems in different aspects of this field, e.g., assessing treatment heterogeneity, identifying patient subgroups, or building treatment decision models. However, there is a lack of new tools devoted to selecting and prioritizing predictive biomarkers. We propose a novel tree-based ensemble method, random interaction forest (RIF), to generate predictive importance scores and prioritize candidate biomarkers for constructing refined treatment decision models. RIF was evaluated by comparing with the conventional random forest and univariable regression methods and showed favorable properties under various simulation scenarios. We applied the proposed RIF method to a biomarker dataset from two phase III clinical trials of bezlotoxumab on $\textit{Clostridium difficile}$ infection recurrence and obtained biologically meaningful results.