Patent Publication Number: US-2022230650-A1

Title: Noise reduction in robot human communication

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/406,788, filed on May 8, 2019, the disclosure of which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     The present disclosure relates generally to robot-human communication, and more particularly, to noise reduction in robot human communication. 
     A robot is generally an electro-mechanical machine guided by a computer or electronic programming Robots may be used in a wide variety of applications and are often thought of in the context of their use in industrial applications. Recently, the use of robots in the field of human-robot interaction has increased, and the quality of the human-robot interaction may be influenced by a number of factors, such as the ability of the robot to recognize utterances spoken by the user and the ability of the robot to interpret the utterance and response in an appropriate manner 
     In order to provide a more natural communication environment for human-robot interaction, it may be desirable for the robot to provide a gesture along with a spoken utterance to realize a more natural communication process. The addition of a gesture to the robot&#39;s capabilities present additional challenges that can affect the robot system&#39;s ability to recognize utterances spoken by the user and to interpret the utterance appropriately. 
     It is with respect to these and other general considerations that embodiments have been described. Also, although relatively specific problems have been discussed, the embodiments should not be limited to solving the specific problems identified in the background. 
     SUMMARY 
     The following presents a simplified summary in order to provide a basic understanding of some aspects described herein. This summary is not an extensive overview of the claimed subject matter. It is intended to neither identify key or critical elements of the claimed subject matter nor delineate the scope thereof. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. 
     According to one aspect of the present disclosure a method for noise reduction in a robot system includes: obtaining a gesture to be performed by a robot; receiving incoming audio that includes audio from a user and robot noise caused by the robot&#39;s performance of a gesture; retrieving a noise profile associated with the gesture from a gesture library; and applying the noise profile to remove the robot noise from the incoming audio. 
     In embodiments, the gesture library comprises a plurality of predetermined gestures that the robot may be expected to perform. Each of the predetermined gestures is paired to a noise profile for removing robot noise in the event that incoming audio that includes user audio is received while the robot is performing the gesture. 
     According to another aspect, an apparatus for noise reduction in a robot system comprises a processor and a memory coupled to the processor and storing instructions for execution by the process. The instructions, when executed by the process cause the apparatus to: obtain a gesture to be performed by the robot; receive incoming audio that includes audio from a user and robot noise caused by the robot&#39;s performance of the gesture; retrieve a noise profile associated with the gesture from a gesture library, and apply the noise profile to remove the robot noise from the incoming audio. 
     Accordingly to another aspect, a computer readable medium comprises computer-executable instructions which, when executed by a computer, cause the computer to perform a method for noise reduction in a robot system in which a robot performs a gesture. The method comprises receiving an indication that the robot is performing the gesture; receiving incoming audio, the incoming audio including a user utterance mixed with mechanical robot noise caused by the robot&#39;s performance of the gesture; retrieving, from a gesture library comprising a plurality of predetermined gestures paired with noise profiles, a noise profile associated with the gesture; and applying the noise profile to the incoming audio to remove the mechanical robot noise caused by the robot&#39;s performance of the gesture. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES (NON-LIMITING EMBODIMENTS OF THE DISCLOSURE) 
       Various embodiments in accordance with the present disclosure will be described with reference to the drawings, in which: 
         FIG. 1  is a schematic diagram illustrating a robot system in which example implementations of the subject matter described herein can be implemented. 
         FIG. 2  illustrates a flow chart of a method for noise reduction in a robot system according to embodiments of the present disclosure. 
         FIG. 3A  illustrates a schematic diagram of a type of a symbolic representation of a gesture according to embodiments of the present disclosure. 
         FIG. 3B  illustrates example symbols of body parts of a robot. 
         FIG. 4  is a schematic diagram illustrating the creation of gesture-noise profile pairs for a gesture library according to embodiments of the present disclosure. 
         FIG. 5  is a high level illustration of exemplary components of a computing apparatus suitable for implementing noise reduction in a robot system according to embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     In the following detailed description, reference is made to the accompanying drawings which form a part hereof, and in which are shown by way of illustration specific embodiments. These embodiments are described in sufficient detail to enable those skilled in the art to practice the technology. Other embodiments may be utilized and structural, logical and electrical changes may be made without departing from the spirit and scope of the disclosure. The following detailed description is therefore not to be taken in a limiting sense, and the scope is defined only by the appended claims and equivalents thereof. Like numbers in the figures refer to like components, which should be apparent from the context of use. 
       FIG. 1  illustrates a schematic diagram of a robot system  400  according to embodiments of the present disclosure. As shown in  FIG. 1 , the robot system  400  generally includes a robot  100 , an apparatus  10 , and a server  300 . The apparatus  10  may control the robot to perform various gestures by, for example, sending commands to the robot  100  to control motors/actuators  110  that orient the robot&#39;s  100  body parts in a particular manner 
     In addition to performing gestures, the robot  100  may, for example, be a chatting robot whose gestures accompany utterances spoken by the robot  100  to provide a more natural, comprehensive and effective communication environment between the user  50  and the robot  100 . During robot-human communication, the user  50  may interact with the robot  100  by delivering a message through speech/utterance or other expression. Incoming audio that includes the user&#39;s  50  utterance is received by the robot through a microphone  30 , which may or may not be embedded within the robot  200 . The server  300  may include a voice recognition module  310  for processing the user&#39;s utterance. The server  300  may be in the form of a cloud-based computer, for example, a chatting intelligence with voice recognition capabilities for the case of a chatting robot interacting with a user&#39;s 50 speech/utterance. 
     The apparatus  10  is capable of controlling the robot  100  to perform a predetermined number of different gestures. The apparatus  10  receives processed information from the server  300  and interprets the processed information to control the robot  100  to perform a particular gesture. The apparatus  10  includes a movement control module  14  that receives processed information from the server  300  and generates commands that control the robot  100  to move one or more robot body parts in a particular orientation to perform the gesture. The commands may, for example, be a series of joint angles that instruct the robot  100  how to orient its moving body parts 
     The robot  100  receives the commands from the apparatus  10  and executes the commands to perform the gesture by operating a plurality of motors/actuators  110 . The motors/actuators  110  orient the robot body parts in the manner instructed by the apparatus  100 . In addition, the robot  100  may have movement control capabilities beyond those involved with performing a gesture from among the predetermined number of different gestures. For example, the robot  100  may have balancing capabilities in the event of unexpected movement that occurs during the performance of a gesture. This additional movement control capability may be accomplished through the movement control module  14  of the apparatus  10  or may be movement control performed independent of the apparatus  10  by the robot&#39;s  100  own internal movement system. The motors/actuators  110  (e.g., servo and/or stepper motors), transformers, chassis flex and contact, hydraulics, chamber echo inside the robot, gears, etc. involved in providing gestural, manipulation or locomotion functions produce mechanical noise  20 . 
     During the course of robot-human interaction, it is natural for a user  50  to wish to communicate with the robot  100  while the robot  100  is performing a gesture. For example, during a normal chatting process between the user  50  and the robot  100 , the user  50  may first make expressions or ask questions to the robot  100 , and then expect to receive a response. The robot&#39;s  100  response may include a gesture that is performed by the robot  100 . While the robot  100  is performing this gesture, the user  50  may wish to speak to the robot  100  (e.g., to ask a follow up question). In order to realize a more natural and smooth communication process between the robot  100  and the user  50 , the robot system  400  should be able to respond to an utterance from a user  50  that is issued while the robot  100  is performing the gesture. However, if the user  50  speaks while the robot  100  is performing a gesture, the incoming audio picked up by the microphone  30 , which includes the user&#39;s utterance/speech signals, is mixed with the mechanical noise  20  caused by the robot&#39;s 100 performance of the gesture. The presence of the mechanical noise  20  in the incoming audio decreases the performance of the speech-recognition services provided by the voice recognition module  310  of the server  300 , thereby decreasing the robot systems  400  ability to understand and respond to the user&#39;s utterance. 
     According to various embodiments of the present disclosure, the speech-recognition performance of a robot system  100  is improved by reducing the relative level of internal mechanical noise against the utterance/speech signals sensed by the microphone  30  of the robot, resulting in an increase in the signal-to-noise ratio with the audio content. Various embodiments of the present disclosure provide a gesture library in which the gestures that the robot  100  is expected to perform are paired with noise profiles. With knowledge of the gestures that the robot  100  can be commanded to perform, the corresponding noise profile can be retrieved and used to cancel out the mechanical noise components mixed with the user&#39;s 50 utterance. 
     Example implementations of the subject matter described herein will be described with reference to the robot system  400 . However, the robot system  400  is described merely for the purpose of illustration without suggesting any limitations as to the scope of the subject matter described herein. For example, the ideas and principles are applicable to a stand-alone machine as well. 
       FIG. 2  illustrates a flow chart of a method for noise reduction in a robot system  400  according to embodiments of the present disclosure. The method can be executed, for example, on the apparatus  10  as illustrated in  FIG. 1 . The apparatus  10  as shown can be a client device or a cloud-based apparatus, or it can be part of the server  300  or robot  100  illustrated in  FIG. 1 . The method may also include additional actions not shown and/or omit the illustrated steps. The scope of the subject matter described herein is not limited in this aspect. 
     The method will be described with reference to  FIGS. 1 and 2 . In  201 , a gesture to be performed by the robot  100  is obtained. The gesture may be one of a plurality of predetermined gestures that the robot  100  is capable of performing. The gesture may, for example, be represented by a symbolic representation of the gesture. The symbolic representation may be a digital signal format in which the orientations of the body parts of the robot  100  are represented by symbols that can be interpreted by the apparatus  100  to generate instructions for the robot  100  to orient its body parts in a particular way. 
     In embodiments of the present disclosure, each of the gestures performed by the robot  100  may be represented using a gesture language in which symbols are used to represent orientations of robot body parts. The gesture language is preferable machine-independent (or hardware-independent), in that the language can be interpreted and compiled regardless of the type of robot  100  performing the gesture. The particular gesture to be performed by the robot  100  may, for example, be determined by the server  300  through the gesture language module  320 . The server  300  may then provide the symbolic representation of the gesture to be performed by the robot  100  to the apparatus  10 . 
     The server  300  may, for example, utilize a library that pairs a plurality of predetermined gestures that can be formed by a robot  100  with the symbolic representations of the gestures. The gesture language module  320  may thus determine an appropriate gesture to be performed by the robot  100  and send the symbolic representation of the gesture to the apparatus  10 . However, the present disclosure is not limited in this manner. For example, the apparatus  10  itself may alternatively perform this function. 
     One exemplary gesture language that may be utilized by the robot system  400  is Labanotation.  FIGS. 3A and 3B  illustrate a typical labanotation for performing a gesture. Labanotation is a notation system used to record human movement in which symbols define orientations of various body parts. Labanotation herein particularly defines orientations of at least one body part of the robot  100  with respect to a plurality of time slots  301 . Labanotation is machine-independent and thereby can be implemented by multiple different types of hardware (or robots). In addition, as a concise symbolic representation, it is easy to transmit labanotation between a robot and the cloud computer (e.g., the server  300 ) through limited communication channels. Labanotation also generally requires smaller memory than other types of representations. 
     In some embodiments, through a continuously captured/recorded gesture, orientations of the at least one body part of the robot  100  in the plurality of time slots  301  can be determined, and then symbols corresponding to the orientations can be obtained. After that, the symbols in association with the corresponding time slots  301  as a part of the labanotation can be saved. 
     In some embodiments, the at least one body part includes a plurality of body parts, and the labanotation includes a first dimension corresponding to the plurality of time slots  301  and a second dimension corresponding to the plurality of body parts.  FIG. 3A  illustrates such a labanotation representative of a particular gesture. In this labanotation, each of the columns corresponds to one specific body part, such as left hand, left arm, support, right arm, right hand, head. Each row corresponds to the time slot with a given duration. Further, a symbol represents to which direction that the body part is oriented at that time. It is noted that the sample labanotation in  FIG. 3A  is merely shown for purpose of illustration without suggesting any limitation as to the scope of the subject matter described herein. In other words, a more complicated labanotation with more body parts involved is also possible. 
     At  202 , the apparatus  10  may cause the robot to perform the gesture. Once the apparatus  10  has obtained the gesture to be performed, the apparatus  10  instructs the robot  100  to orient its body parts to perform the particular gesture. For example, the apparatus  10  may receive a symbolic representation of the gesture from the server  300 , and based on the symbolic representation, determine joint angles and instruct the robot  100  to control its motors  110  to a particular joint angle. The various motors  110  of the robot  100  move particular parts of the robot  100  so that the robot  100  performs the gesture. 
     Through the course of executing the instructions provided by the apparatus, the motors  110  and the mechanical parts of the robot  100  involved in providing the gesture produce mechanical noise  20  that can be picked up by the microphone  30 . This noise  20  becomes problematic when, in  203  the microphone  30  receives incoming audio that includes user audio (for example, a user utterance) that the robot system  400  should interact with. In such a case, the incoming audio from the user may be audio on which speech recognition is performed in order for the robot system  400  to determine how it should response to the user&#39;s utterance. When the incoming audio is received while mechanical noise  20  is produced by the motors  110  and moving body parts of the robot  100 , the mechanical noise  20  mixes with the incoming audio. The presence of the mechanical noise  20  in the incoming audio may decrease the performance of the speech-recognition services provided by the voice recognition module  310  of the server  300  that are used by the robot system  400  to understand and respond to the meaning of the user&#39;s utterance. 
     In order to reduce the mechanical robot noise  20  picked up by the microphone  30  and mixed with incoming audio, in  204 , a noise profile INM N  for removing the mechanical robot noise  20  from the incoming audio is retrieved. The noise profile is ultimately used to cancel out the mechanical noise  20  associated with the robot&#39;s  100  performance of the gesture when, in S 205 , the noise profile is applied. By canceling the mechanical noise  20  from the incoming audio, the signal-to-noise ratio of the incoming audio is improved, which enhances the voice recognition module&#39;s  310  ability to recognize, translate and effectively respond to the user utterance included in the incoming audio. 
     In embodiments of the present disclosure, the noise profile is retrieved from a gesture library  12 , in which gestures (LA 1 , LA 2 , . . . , LA N ) are paired to noise profiles (INM 1 , INM 2 , . . . , INM N ). The gesture library  12  comprises a finite number of gestures that the robot  100  is expected to perform (namely, the plurality of predetermined gestures (LA 1 , LA 2 , . . . , LA N )) for interacting with the user  50 . For each of these gestures, the gesture library  12  includes a noise profile INM N  for canceling out the mechanical noise  20  caused by the robot&#39;s  100  performance of the gesture LA N . In applying  205  the noise profile INM N  to remove mechanical noise  20  from the incoming audio picked up by the microphone  30 , the noise signals associated with the performance of the gesture may, for example, be mixed out-of-phase with the incoming audio to obtain a cleaner audio signal that better represents the utterance that was spoken by the user  50  while the robot  100  performed the gesture. 
     In an embodiment in which the gesture is represented by a symbolic representation such as a labanotation LAN, the gesture library  12  may index each of the noise profiles (INM 1 , INM 2 , . . . , INM N ) to the labanotation representative of the gesture that causes the noise  20  for which the noise profile INM N  is created. In such a case, when server  300  provides a particular labanotation LA N , the apparatus can pull the appropriate noise profile INM N  from the gesture library  12  based on the labanotation LA N  received from the server  300 . 
     In an exemplary embodiment, each of the noise profiles (INM 1 , INM 2 , . . . , INM N ) may be an inverse noise model that can be mixed with the audio signals picked up by the microphone  30  in order to perform noise cancellation. An inverse noise model INM N  is the inverse of the noise signals caused by the robot  100  when the robot performs the gesture associated with the inverse noise model INM N . Thus, the inverse noise model may be mixed with the audio signals picked up by the microphone  30  during the robot&#39;s 100 performance of the gesture by adding the inverse noise model to the audio signals. 
     The sequence of steps described above are not limited to the particular order in which they are described and may be performed in any suitable order or simultaneously. For example, retrieval of the noise profile from the gesture library  12  may occur simultaneously with, before or after causing the robot to perform the gesture and receiving incoming audio from a user. 
     Moreover, the acts described herein may be computer-executable instructions that can be implemented by one or more processors and/or stored on a computer-readable medium or media. The computer-executable instructions may include a routine, a sub-routine, programs, a thread of execution, and/or the like. Still further, results of acts of the methodologies may be stored in a computer-readable medium, displayed on a display device, and/or the like. The computer-readable medium may be any suitable computer-readable storage device, such as memory, hard drive, CD, DVD, flash drive, or the like. As used herein, the term “computer-readable medium” is not intended to encompass a propagated signal. 
       FIG. 4  is a schematic diagram for illustrating the creation of gesture-noise profile pairs to be included in a gesture library  12  according to embodiments of the present disclosure. In the embodiment illustrated in  FIG. 4 , labanotation is used as a machine-independent gesture language for symbolically representing gestures performed by the robot  100 . However, the gesture language used to create gesture-noise pairs is not limited to labanotation. 
       FIG. 4  illustrates an embodiment in which the mechanical noise  20  generated by a robot&#39;s 100 performance of a gesture is recorded in order to create a noise profile. In such a case, the gesture library  12  comprises noise profiles based on pre-recorded noise signals. 
     Upon obtaining a labanotation, the robot controller module  220  of the apparatus  100  controls the robot  100  to perform the gesture by, for example, sending instructions to the robot  100  to orient one or more robot body parts in a particular way. In performing the gesture, the robot  100  generates mechanical noise  20  caused by, for example, the robot&#39;s motors  110  (e.g., servo and/or stepper motors), transformers, chassis flex and contact, hydraulics, chamber echo inside the robot, gears, etc. The mechanical noise  20  is recorded, and a noise profile is created based on the pre-recorded noise  20 . The created noise profile is then paired with the gesture (in this example, the labanotation representation of the gesture). The noise profile stored in the library  12  may, for example, be a digital recording of the pre-recorded noise signals, an inverse of the pre-recorded noise, or another noise profile created based on the pre-recorded noise. 
     As explained above, the noise profile will be used to cancel out mechanical robot noise that is picked up by microphone  30  and mixed with incoming user audio. In an exemplary embodiment, the noise profile may include pre-recorded noise signals that are mixed out-of-phase with the incoming user audio or an inverse of the pre-recorded noise signals that is added to the incoming user audio. The process of creating a gesture-noise pair is repeated for each of the gestures/labanotations contained in the gesture library  12 . Because there is a finite number of the gestures/labanotations that the robot  100  is expected to perform, it is possible for the robot system  400  to provide a robot  100  that can perform a predetermined number of gestures using a gesture language that is independent of the robot  100  while also providing the ability to perform noise cancellation of noises that are specific to the particular hardware of the robot. Thus, the system  400  can ultimately provide gesture services to a plurality of different types of robots independent of the hardware and software implemented by the robot  100 , while also having the ability to perform noise cancellation of noise that is specific to the motors, mechanical components, etc. of each of the different types of robots. 
     In an embodiment, the same microphone  30  that is used to capture incoming user audio is used to create the gesture library  12 . Using the same microphone  30  can be beneficial in that the hardware components used to pre-record noise signals are the same as those that pick up the noise signals during operation of the robot system, thus further ensuring that the noise signals of the gesture library  12  are an accurate representation of the noise that will be picked up by the microphone  30  when the robot  200  performs the associated gesture. 
     In an embodiment, when creating the gesture library  12 , the pre-recorded robot noise audio signals are synchronized with the corresponding gesture so that noise cancellation occurs at the appropriate time. As shown in  FIG. 3A , when executing the labanotation, time passes from the bottom to the top in  301 , and a specific combination of various symbols indicating the various orientations of multiple body parts at a given time slot  301  will be executed, so that the robot  100  can continuously perform the corresponding motion with respect to time. When building the gesture library  12  in accordance with the above described method, the robot  100  itself is used to generate the pre-recorded robot noise, and thus, the pre-recorded noise signals of the noise profile can be assumed to be synchronized with the particular movements of the robot at the time slots at which they occur. In order to synchronize incoming audio with the selected noise profile, the apparatus  10  may time stamp the point at which motor control begins and then synchronize this time stamp with the noise model associated with the gesture the robot is performing, so that the start point at which the microphone  30  receives incoming audio and the start point at which noise profile is applied are synchronized. 
     Although the embodiment described with respect to  FIG. 4  illustrates an example in which the gesture library  12  is created based on pre-recorded noise signals picked up by the microphone  30 , the creation of this gesture library  12  is not limited as such. For example, in an embodiment, the noise profile associated with a particular gesture may be obtained from an alternative source without requiring that the robot  100  itself record the mechanical noise  20 . In addition, in another embodiment of the present invention, the noise profiles of the gestures in the gesture library  12  may be created using a physics model representative of the noise created by the robot when the robot performs a gesture. The physics model may predict the sound propagation occurring when the robot performs a gesture. Different from using data collected from sound sensors or the like (as in the case of creating noise-profiles using noise signals obtained from the microphone  30 ), the physics model encompasses predictions of motor waveforms, chassis sound emulation, sound reflection patterns, etc. 
     Embodiments of the present disclosure may also include an overlay model that can integrate unexpected sounds with the existing gesture library  12 . The overlay model may, for example, be computed according to the physics model, or using extended noise records that may be generated in real-time. The unexpected sound from a received motor movement may, for example, be the result of the robot  100  righting itself or countering an external unexpected force that occurs while the robot  100  performs a gesture. The overlay model for the unexpected sounds may be applied along with the pre-recorded noise model for a particular gesture to facilitate additional noise cancelation in the event that additional unexpected movement occurs during a robot&#39;s performance of a gesture. 
     In addition, in embodiments of the present disclosure, an environment noise physics model may also be created to represent environmental noise that may picked up by the microphone  30  while the user  50  is interacting with the robot  100 . The physics model for the environmental noise predicts the noise created by the environment in which the robot interacts. The physics model for environmental noise may be added to the gesture library  12  and may also be mixed out-of-phase with the incoming audio to reduce environmental noise picked up by microphone  30 . The gesture library  12  may include a plurality of environmental models each modeling a different environment in which the robot may be present. 
     Once the noise model has been applied to the incoming audio signal in  205 , the noise-cancelled audio signals may be transmitted to the voice recognition module  310 . The voice recognition module  310  translates the noise-cancelled audio signals into verbal interaction elements used by and provided to the apparatus  10 . For example, the voice recognition module  310  may perform analyses based on the content of the noise-canceled audio signals, and may prepare an utterance that is to be spoken by the robot  100  as a response to or an answer to the user utterance included in the noise-cancelled audio signals. Further, the gesture language module  320  may determine a gesture to be performed by a robot  100  based on the output of the voice recognition module  310 . The gesture may accompany the utterance to be spoken by the robot  100 , or, alternatively, the voice recognition module  310  may determine that an utterance will not be performed by the robot, and the gesture language module  320  may determine a gesture that will be performed by the robot  100  without an accompanying robot utterance. 
     In determining an appropriate gesture for the robot  100  to accompany a robot utterance, the server  300  may, for example, extract a concept from the utterance to be spoken by the robot and pull a gesture corresponding to the extracted concept from a library. The concept may be one representative extracted from a cluster of wards, and such concepts may include, for example, “Hello,” “Good,” “Thanks,” “Hungry,” etc. However, the present disclosure is not limited to any particular method of selecting a gesture that is to be performed by the robot  100 . 
     Once a gesture is obtained, the robot system  400  may once again perform the method illustrated in  FIG. 4  to remove robot noise from any incoming audio received by the microphone  30  while the gesture is performed. 
       FIG. 5  is a block diagram of apparatus  10  suitable for implementing one or more implementations of the subject matter described herein. For example, the apparatus  10  may function as discussed above with reference to  FIG. 1 . However, the apparatus  10  is not intended to suggest any limitation as to scope of use or functionality of the subject matter described herein, as various implementations may be implemented in diverse general-purpose or special-purpose computing environments. 
     As shown, the apparatus  10  includes at least one processor  120  and a memory  140 . The processor  120  executes computer-executable instructions and may be a real or a virtual processor. In a multi-processing system, multiple processors execute computer-executable instructions to increase processing power. The memory  130  may be volatile memory (e.g., registers, cache, RAM), non-volatile memory (e.g., ROM, EEPROM, flash memory), or some combination thereof. The memory  130  and its associated computer-readable media provide storage of data, data structure, computer-executable instructions, etc. for the apparatus  10 . 
     In accordance with implementations of the subject matter described herein, the memory  130  is coupled to the processor  120  and stores instructions for execution by the processor  120 . Those instructions, when executed by the processor  120  cause the apparatus to: obtain a gesture to be performed by a robot; receive incoming audio, the incoming audio including audio from a user with robot noise caused by the robot&#39;s performance of the gesture; retrieve, from a gesture library, a noise profile associated with the gesture for removing the robot noise caused by the robot&#39;s performance of the gesture from the incoming audio; and apply the noise profile to remove the robot noise from the incoming audio. 
     In the example shown in  FIG. 5 , the apparatus  10  further includes one or more communication connections  140 . An interconnection mechanism, such as a bus, controller or network interconnects the components of the apparatus  10 . Typically, operating system software provides an operating environment for other software executing in the apparatus  10 , and coordinates activities of the components of the apparatus  10 . 
     The communication connections  140  enable communication over a communication medium to another computing entity. Additionally, functionality of the components of the apparatus  10  may be implemented in a single computing machine or in multiple computing machines that are able to communicate over communication connections. Thus, the apparatus  10  may operate in a networked environment (for example, the robot system environment  400 ) using logical connections to one or more other servers, network PCs, or another common network node. By way of example, and not limitation, communication media include wired or wireless networking techniques. 
     Implementations of the subject matter described herein include a computer-readable medium comprising computer-executable instructions. Those instructions, when executed by a computer, cause the computer to perform a method for noise reduction in a robot system in which a robot performs a gesture, the method comprising: receiving an indication that the robot is performing the gesture; receiving incoming audio, the incoming audio including a user utterance mixed with mechanical robot noise caused by the robot&#39;s performance of the gesture; retrieving, from a gesture library comprising a plurality of predetermined gestures paired with noise profiles, a noise profile associated with the gesture; and applying the noise profile to the incoming audio to remove the mechanical robot noise caused by the robot&#39;s performance of the gesture. 
     Computer storage medium includes, but is not limited to, RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “includes,” “has,” “comprising,” “including” and/or “having,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     The corresponding structures, materials, acts, and equivalents of all means or step plus function elements, if any, in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. This description has been presented for purposes of illustration and description, but is not intended to be exhaustive or limiting in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the technology. The embodiment was chosen and described in order to best explain the principles of the technology and the practical application, and to enable others of ordinary skill in the art to understand the technology for various embodiments with various modifications as are suited to the particular use contemplated. 
     Although specific embodiments have been described, those of skill in the art will understand that there are other embodiments that are equivalent to the described embodiments. Accordingly, the technology is not to be limited by the specific illustrated embodiments, but only by the scope of the appended claims. 
     According to one aspect of the present disclosure, a method for noise reduction in a robot system comprises: obtaining a gesture to be performed by a robot; receiving incoming audio, the incoming audio including audio from a user and robot noise caused by the robot&#39;s performance of the gesture; retrieving, from a gesture library, a noise profile associated with the gesture for removing the robot noise caused by the robot&#39;s performance of the gesture from the incoming audio; and applying the noise profile to remove the robot noise from the incoming audio. 
     In this aspect, the noise profile may be an inverse noise model, and applying the noise profile to remove the robot noise from the incoming audio may comprise applying the inverse noise model to the incoming audio. 
     In this aspect, the noise profile may comprise pre-recorded noise signals of the robot performing the gesture, and applying the noise profile to remove the robot noise may comprise mixing the pre-recorded noise signals out-of-phase with the incoming audio. 
     In this aspect, the gesture library may comprise a plurality of predetermined gestures performed by the robot, and each of the predetermined gestures is paired to a noise profile for removing robot noise. 
     In this aspect, the method may further comprise creating the gesture library, wherein creating the gesture library may comprise: causing the robot to perform the predetermined gestures; and recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture to create a noise profile. 
     In this aspect, the incoming audio may be received by a robot microphone, and recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture to create a noise profile may comprise recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture using the robot microphone. 
     In this aspect, the gesture library may comprise a plurality of symbolic representations of gestures to be performed by the robot and each of the symbolic representations is paired to a noise profile for removing robot noise. 
     In this aspect, obtaining a symbolic representation of a gesture to be performed by a robot may comprise obtaining a labanotation defining orientations of at least one body part of the robot with respect to a plurality of time slots. 
     In this aspect, the at least one body part includes a plurality of body parts, and causing the robot to perform the gesture may comprise executing the labanotation to trigger the plurality of body parts to perform the gesture according to the respective orientations in the plurality of time slots. 
     According to another aspect of the present invention, an apparatus for noise reduction in a robot system comprises a processor and a memory coupled to the processor and storing instructions for execution by the processor, the instructions, when executed by the processor, causing the apparatus to: obtain a gesture to be performed by a robot; receive incoming audio, the incoming audio including audio from a user and robot noise caused by the robot&#39;s performance of the gesture; retrieve, from a gesture library, a noise profile associated with the gesture for removing the robot noise caused by the robot&#39;s performance of the gesture from the incoming audio; and apply the noise profile to remove the robot noise from the incoming audio. 
     In this aspect, the noise profile may be an inverse noise model, and applying the noise profile to remove the robot noise from the incoming audio may comprise applying the inverse noise model to the incoming audio. 
     In this aspect, the noise profile comprises pre-recorded noise signals of the robot performing the gesture, and applying the noise profile to remove the robot noise may comprise mixing the pre-recorded noise signals out-of-phase with the incoming audio. 
     In this aspect, the gesture library may comprise a plurality of predetermined gestures performed by the robot, and each of the predetermined gestures is paired to a noise profile for removing robot noise. 
     In this aspect, the instructions, when executed by the processor, may further cause the apparatus to create the gesture library, wherein creating the gesture library comprises: causing the robot to perform the predetermined gestures; and recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture to create a noise profile. 
     In this aspect, the incoming audio may be received by a robot microphone; and recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture to create a noise profile may comprise recording, for each of the predetermined gestures, robot noise caused by the robot&#39;s performance of the gesture using the robot microphone. 
     In this aspect, obtaining a gesture to be performed by a robot may comprise obtaining a symbolic representation of the gesture to be performed by a robot, and the instructions, when executed by the processor, may further cause the apparatus to cause the robot to perform the gesture comprises controlling an orientation of at least one body part of the robot according to the symbolic representation. 
     In this aspect, the gesture library may comprise a plurality of symbolic representations of gestures to be performed by the robot and each of the symbolic representations is paired to a noise profile for removing robot noise. 
     In this aspect, obtaining a symbolic representation of a gesture to be performed by a robot may comprise obtaining a labanotation defining orientations of at least one body part of the robot with respect to a plurality of time slots. 
     In this aspect, the at least one body part may include a plurality of body parts, and causing the robot to perform the gesture may comprise executing the labanotation to trigger the plurality of body parts to perform the gesture according to the respective orientations in the plurality of time slots. 
     According to another aspect of the present invention, a computer-readable storage medium comprises computer-executable instructions which, when executed by a computer, cause the computer to perform a method for noise reduction in a robot system in which a robot performs a gesture, the method comprises: receiving an indication that the robot is performing the gesture; receiving incoming audio, the incoming audio including a user utterance mixed with mechanical robot noise caused by the robot&#39;s performance of the gesture; retrieving, from a gesture library comprising a plurality of predetermined gestures paired with noise profiles, a noise profile associated with the gesture; and applying the noise profile to the incoming audio to remove the mechanical robot noise caused by the robot&#39;s performance of the gesture. 
     In this aspect, the plurality of noise profiles of the gesture library may comprise pre-recorded noise signals of the robot performing the predefined gestures, and applying the noise profile to remove the robot noise may comprise mixing pre-recorded noise signals of the noise profile associated with the gesture out-of-phase with the incoming audio. 
     In this aspect, the plurality of predetermined gestures may be represented in the gesture library by a plurality of symbolic representations of the predetermined gestures, wherein a symbolic representation defines orientations of at least one body part of the robot in performing a gesture.