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- W1967614663 abstract "In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction." @default.
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- W1967614663 date "2012-09-01" @default.
- W1967614663 modified "2023-10-12" @default.
- W1967614663 title "An active audition framework for auditory-driven HRI: Application to interactive robot dancing" @default.
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- W1967614663 doi "https://doi.org/10.1109/roman.2012.6343892" @default.
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