OpenRaiser/Intern-Atlas huggingface dataset:
Room Impulse Response as a Prompt for Acoustic Echo Cancellation
Venue: Conference INTERSPEECH 2025
Year: 2025

Data-driven acoustic echo cancellation (AEC) methods, predominantly trained on synthetic or constrained real-world datasets, encounter performance declines in unseen echo scenarios, especially in real environments where echo paths are not directly observable. Our proposed method counters this limitation by integrating room impulse response (RIR) as a pivotal training prompt, aiming to improve the generalization of AEC models in such unforeseen conditions. We also explore four RIR prompt fusion methods. Comprehensive evaluations, including both simulated RIR under unknown conditions and recorded RIR in real, demonstrate that the proposed approach significantly improves performance compared to baseline models. These results substantiate the effectiveness of our RIR-guided approach in strengthening the model's generalization capabilities.
ClearerVoice-Studio: Bridging Advanced Speech Processing Research and Practical Deployment
Venue: Conference INTERSPEECH 2025
Year: 2025

This paper introduces ClearerVoice-Studio, an open-source, AI-powered speech processing toolkit designed to bridge cutting-edge research and practical application. Unlike broad platforms like SpeechBrain and ESPnet, ClearerVoice-Studio focuses on interconnected speech tasks of speech enhancement, separation, super-resolution, and multimodal target speaker extraction. A key advantage is its state-of-the-art pretrained models, including FRCRN with 3 million uses and MossFormer with 2.5 million uses, optimized for real-world scenarios. It also offers model optimization tools, multi-format audio support, the SpeechScore evaluation toolkit, and user-friendly interfaces, catering to researchers, developers, and end-users. Its rapid adoption attracting 3000 GitHub stars and 239 forks highlights its academic and industrial impact. This paper details ClearerVoice-Studio's capabilities, architectures, training strategies, benchmarks, community impact, and future plan. Source code is available at https://github.com/modelscope/ClearerVoice-Studio.
Lightweight Front-end Enhancement for Robust ASR via Frame Resampling and Sub-Band Pruning
Venue: Conference INTERSPEECH 2025
Year: 2025

Recent advancements in automatic speech recognition (ASR) have achieved notable progress, whereas robustness in noisy environments remains challenging. While speech enhancement (SE) front-ends are widely used to mitigate noise as a preprocessing step for ASR, they often introduce computational non-negligible overhead. This paper proposes optimizations to reduce SE computational costs without compromising ASR performance. Our approach integrates layer-wise frame resampling and progressive sub-band pruning. Frame resampling downsamples inputs within layers, utilizing residual connections to mitigate information loss. Simultaneously, sub-band pruning progressively excludes less informative frequency bands, further reducing computational demands. Extensive experiments on synthetic and real-world noisy datasets demonstrate that our system reduces SE computational overhead over 66 compared to the standard BSRNN, while maintaining strong ASR performance.
Prosody-Adaptable Audio Codecs for Zero-Shot Voice Conversion via In-Context Learning
Venue: Conference INTERSPEECH 2025
Year: 2025

Recent advances in discrete audio codecs have significantly improved speech representation modeling, while codec language models have enabled in-context learning for zero-shot speech synthesis. Inspired by this, we propose a voice conversion (VC) model within the VALLE-X framework, leveraging its strong in-context learning capabilities for speaker adaptation. To enhance prosody control, we introduce a prosody-aware audio codec encoder (PACE) module, which isolates and refines prosody from other sources, improving expressiveness and control. By integrating PACE into our VC model, we achieve greater flexibility in prosody manipulation while preserving speaker timbre. Experimental evaluation results demonstrate that our approach outperforms baseline VC systems in prosody preservation, timbre consistency, and overall naturalness, surpassing baseline VC systems.
MM-MovieDubber: Towards Multi-Modal Learning for Multi-Modal Movie Dubbing
Venue: Conference INTERSPEECH 2025
Year: 2025

Current movie dubbing technology can produce the desired speech using a reference voice and input video, maintaining perfect synchronization with the visuals while effectively conveying the intended emotions. However, crucial aspects of movie dubbing, including adaptation to various dubbing styles, effective handling of dialogue, narration, and monologues, as well as consideration of subtle details such as speaker age and gender, remain insufficiently explored. To tackle these challenges, we introduce a multi-modal generative framework. First, it utilizes a multi-modal large vision-language model (VLM) to analyze visual inputs, enabling the recognition of dubbing types and fine-grained attributes. Second, it produces high-quality dubbing using large speech generation models, guided by multi-modal inputs. Additionally, a movie dubbing dataset with annotations for dubbing types and subtle details is constructed to enhance movie understanding and improve dubbing quality for the proposed multi-modal framework. Experimental results across multiple benchmark datasets show superior performance compared to state-of-the-art (SOTA) methods. In details, the LSE-D, SPK-SIM, EMO-SIM, and MCD exhibit improvements of up to 1.09%, 8.80%, 19.08%, and 18.74%, respectively.
FreeCodec: A Disentangled Neural Speech Codec with Fewer Tokens
Venue: Conference INTERSPEECH 2025
Year: 2025

Neural speech codecs have gained great attention for their outstanding reconstruction with discrete token representations. It is a crucial component in generative tasks such as speech coding and large language models (LLM). However, most works based on residual vector quantization perform worse with fewer tokens due to low coding efficiency for modeling complex coupled information. In this paper, we propose a neural speech codec named FreeCodec which employs a more effective encoding framework by decomposing intrinsic properties of speech into different components: 1) a global vector is extracted as the timbre information, 2) a prosody encoder with a long stride level is used to model the prosody information, 3) the content information is from a content encoder. Using different training strategies, FreeCodec achieves state-of-the-art performance in reconstruction and disentanglement scenarios. Results from subjective and objective experiments demonstrate that our framework outperforms existing methods.
Adapting Whisper for Streaming Speech Recognition via Two-Pass Decoding
Venue: Conference INTERSPEECH 2025
Year: 2025

OpenAI Whisper is a family of robust Automatic Speech Recognition (ASR) models trained on 680,000 hours of audio. However, its encoder-decoder architecture, trained with a sequence-to-sequence objective, lacks native support for streaming ASR. In this paper, we fine-tune Whisper for streaming ASR using the WeNet toolkit by adopting a Unified Two-pass (U2) structure. We introduce an additional Connectionist Temporal Classification (CTC) decoder trained with causal attention masks to generate streaming partial transcripts, while the original Whisper decoder reranks these partial outputs. Our experiments on LibriSpeech and an earnings call dataset demonstrate that, with adequate fine-tuning data, Whisper can be adapted into a capable streaming ASR model. We also introduce a hybrid tokenizer approach, which uses a smaller token space for the CTC decoder while retaining Whisper's original token space for the attention decoder, resulting in improved data efficiency and generalization.
Optimal path planning under temporal logic constraints
Venue: Conference IROS 2010
Year: 2010

In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with weighted transitions. The mission is specified by a general linear temporal logic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot trajectory which minimizes the cost function. The problem is motivated by applications in robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the entire formula specifies a complex (and infinite horizon) data collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal logic specification. We then present a graph algorithm which computes a path corresponding to the optimal robot trajectory. We also present an implementation for a robot performing a data gathering mission in a road network.
Singular surfaces and cusps in symmetric planar 3-RPR manipulators
Venue: Conference IROS 2011
Year: 2011

We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving triangle is the image of the base triangle by an indirect isometry. We introduce a specific coordinate system adapted to this geometric feature and which is also well adapted to the splitting of the DKP. This allows us to obtain easily precise descriptions of the singularities and of the cusp edges. These latter second order singularities are important for nonsingular assembly mode changing. We show how to sort assembly modes and use this sorting for motion planning in the joint space.
Cartesian stiffness matrix of manipulators with passive joints: Analytical approach
Venue: Conference IROS 2011
Year: 2011

The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the desired matrix either in analytical or numerical form. Advantages of the developed technique and its ability to produce both singular and non-singular stiffness matrices are illustrated by application examples that deal with stiffness modeling of two Stewart-Gough platforms.
Optimal multi-robot path planning with Temporal Logic constraints
Venue: Conference IROS 2011
Year: 2011

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The mission is given as a Linear Temporal Logic formula. In addition, an optimizing proposition must repeatedly be satisfied. The goal is to minimize the maximum time between satisfying instances of the optimizing proposition. Our method is guaranteed to compute an optimal set of robot paths. We utilize a timed automaton representation in order to capture the relative position of the robots in the environment. We then obtain a bisimulation of this timed automaton as a finite transition system that captures the joint behavior of the robots and apply our earlier algorithm for the single robot case to optimize the group motion. We present a simulation of a persistent monitoring task in a road network environment.
Probabilistically safe control of noisy Dubins vehicles
Venue: Conference IROS 2012
Year: 2012

We address the problem of controlling a stochastic version of a Dubins vehicle such that the probability of satisfying a temporal logic specification over a set of properties at the regions in a partitioned environment is maximized. We assume that the vehicle can determine its precise initial position in a known map of the environment. However, inspired by practical limitations, we assume that the vehicle is equipped with noisy actuators and, during its motion in the environment, it can only measure its angular velocity using a limited accuracy gyroscope. Through quantization and discretization, we construct a finite approximation for the motion of the vehicle in the form of a Markov Decision Process (MDP). We allow for task specifications given as temporal logic statements over the environmental properties, and use tools in Probabilistic Computation Tree Logic (PCTL) to generate an MDP control policy that maximizes the probability of satisfaction. We translate this policy to a vehicle feedback control strategy and show that the probability that the vehicle satisfies the specification in the original environment is bounded from below by the maximum probability of satisfying the specification on the MDP.
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering
Venue: Conference IROS 2012
Year: 2012

This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus of the localization error, is analysed, and described by a Fisher Information Matrix. It is advocated this error can be much reduced if the data is fused with measurements from other motion sensors, or even with prior knowledge on the motion. The data fusion is performed by a recently introduced specific extended Kalman filter, the so-called Invariant EKF, and is directly based on the estimated covariance of the ICP. The resulting filter is very natural, and is proved to possess strong properties. Experiments with a Kinect sensor and a three-axis gyroscope prove clear improvement in the accuracy of the localization, and thus in the accuracy of the built 3D map.
Stiffness modeling of non-perfect parallel manipulators
Venue: Conference IROS 2012
Year: 2012

The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these manipulators, there usually exist essential internal forces/torques that considerably affect the stiffness properties and also change the end-effector location. These internal load-ings are caused by elastic deformations of the manipulator ele-ments during assembling, while the geometrical errors in the chains are compensated for by applying appropriate forces. For this type of manipulators, a non-linear stiffness modeling tech-nique is proposed that allows us to take into account inaccuracy in the chains and to aggregate their stiffness models for the case of both small and large deflections. Advantages of the developed technique and its ability to compute and compensate for the compliance errors caused by different factors are illustrated by an example that deals with parallel manipulators of the Or-thoglide family
Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents
Venue: Conference IROS 2012
Year: 2012

We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite transition system (in the deterministic case) or Markov decision process (in the stochastic case). Existing results in probabilistic verification are adapted to solve the synthesis problem. To partially address the state explosion issue, we propose an incremental approach where only a small subset of environment agents is incorporated in the synthesis procedure initially and more agents are successively added until we hit the constraints on computational resources. Our algorithm runs in an anytime fashion where the probability that the robot satisfies its specification increases as the algorithm progresses.
Negotiating the probabilistic satisfaction of temporal logic motion specifications
Venue: Conference IROS 2013
Year: 2013

We propose a human-supervised control synthesis method for a stochastic Dubins vehicle such that the probability of satisfying a specification given as a formula in a fragment of Probabilistic Computational Tree Logic (PCTL) over a set of environmental properties is maximized. Under some mild assumptions, we construct a finite approximation for the motion of the vehicle in the form of a tree-structured Markov Decision Process (MDP). We introduce an efficient algorithm, which exploits the tree structure of the MDP, for synthesizing a control policy that maximizes the probability of satisfaction. For the proposed PCTL fragment, we define the specification update rules that guarantee the increase (or decrease) of the satisfaction probability. We introduce an incremental algorithm for synthesizing an updated MDP control policy that reuses the initial solution. The initial specification can be updated, using the rules, until the supervisor is satisfied with both the updated specification and the corresponding satisfaction probability. We propose an offline and an online application of this method.
Mutual localization: Two camera relative 6-DOF pose estimation from reciprocal fiducial observation
Venue: Conference IROS 2013
Year: 2013

Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt egomotion estimates; situations in which both assumptions are violated often arise, for example, robots with erroneous low quality odometry and IMU exploring an unknown environment. In contrast to these existing works in cooperative localization, we propose a cooperative localization method, which we call mutual localization, that uses reciprocal observations of camera-fiducials to obviate the need for egomotion estimates and mutually observable world landmarks. We formulate and solve an algebraic formulation for the pose of the two camera mutual localization setup under these assumptions. Our experiments demonstrate the capabilities of our proposal egomotion-free cooperative localization method: for example, the method achieves 2cm range and 0.7 degree accuracy at 2m sensing for 6-DOF pose. To demonstrate the applicability of the proposed work, we deploy our method on Turtlebots and we compare our results with ARToolKit and Bundler, over which our method achieves a 10 fold improvement in translation estimation accuracy.
Bingham procrustean alignment for object detection in clutter
Venue: Conference IROS 2013
Year: 2013

A new system for object detection in cluttered RGB-D images is presented. Our main contribution is a new method called Bingham Procrustean Alignment (BPA) to align models with the scene. BPA uses point correspondences between oriented features to derive a probability distribution over possible model poses. The orientation component of this distribution, conditioned on the position, is shown to be a Bingham distribution. This result also applies to the classic problem of least-squares alignment of point sets, when point features are orientation-less, and gives a principled, probabilistic way to measure pose uncertainty in the rigid alignment problem. Our detection system leverages BPA to achieve more reliable object detections in clutter.
Recursive Bayesian initialization of localization based on ranging and dead reckoning
Venue: Conference IROS 2013
Year: 2013

The initialization of the state estimation in a localization scenario based on ranging and dead reckoning is studied. Specifically, we start with a cooperative localization setup and consider the problem of recursively arriving at a uni-modal state estimate with sufficiently low covariance such that covariance based filters can be used to estimate an agent's state subsequently. A number of simplifications/assumptions are made such that the estimation problem can be seen as that of estimating the initial agent state given a deterministic surrounding and dead reckoning. This problem is solved by means of a particle filter and it is described how continual states and covariance estimates are derived from the solution. Finally, simulations are used to illustrate the characteristics of the method and experimental data are briefly presented.
Sampling-based temporal logic path planning
Venue: Conference IROS 2013
Year: 2013

In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has three main features. First, it is incremental, in the sense that the procedure for finding a satisfying path at each iteration scales only with the number of new samples generated at that iteration. Second, the underlying graph is sparse, which guarantees the low complexity of the overall method. Third, it is probabilistically complete. Examples illustrating the usefulness and the performance of the method are included.
Optimal parameter identification for discrete mechanical systems with application to flexible object manipulation
Venue: Conference IROS 2014
Year: 2014

We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by torsional springs. Unlike previous work, the proposed optimal control approach using variational integrators allows identification of closed loops, which include the robot arm itself. This allows using the resulting models for planning in configuration space of the robot. In order to solve the resulting problem efficiently, we develop a novel method for fast discrete-time adjoint-based gradient calculation. The feasibility of the approach is demonstrated using full physics simulation in trep and using data recorded from a 7-DOF series elastic robot arm.
Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic
Venue: Conference IROS 2014
Year: 2014

Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the problem of finding the optimal solution, but in doing so asymptotically find the optimal path from the initial state to every state in the planning domain. This behaviour is not only inefficient but also inconsistent with their single-query nature. For problems seeking to minimize path length, the subset of states that can improve a solution can be described by a prolate hyperspheroid. We show that unless this subset is sampled directly, the probability of improving a solution becomes arbitrarily small in large worlds or high state dimensions. In this paper, we present an exact method to focus the search by directly sampling this subset. The advantages of the presented sampling technique are demonstrated with a new algorithm, Informed RRT*. This method retains the same probabilistic guarantees on completeness and optimality as RRT* while improving the convergence rate and final solution quality. We present the algorithm as a simple modification to RRT* that could be further extended by more advanced path-planning algorithms. We show experimentally that it outperforms RRT* in rate of convergence, final solution cost, and ability to find difficult passages while demonstrating less dependence on the state dimension and range of the planning problem.