Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2401.03286

Theoretical Framework for the Optimization of Microphone Array Configuration for Humanoid Robot Audition

Vladimir Tourbabin·Boaz Rafaely
View original source ↗Read source document ↗Export metadata ↓

Abstract

An important aspect of a humanoid robot is audition. Previous work has presented robot systems capable of sound localization and source segregation based on microphone arrays with various configurations. However, no theoretical framework for the design of these arrays has been presented. In the current paper, a design framework is proposed based on a novel array quality measure. The measure is based on the effective rank of a matrix composed of the generalized head related transfer functions (GHRTFs) that account for microphone positions other than the ears. The measure is shown to be theoretically related to standard array performance measures such as beamforming robustness and DOA estimation accuracy. Then, the measure is applied to produce sample designs of microphone arrays. Their performance is investigated numerically, verifying the advantages of array design based on the proposed theoretical framework.

Explore related subjects

eess.AScs.ROcs.SD

Keep this discovery

BibTeXRIS

Vladimir Tourbabin, Boaz Rafaely. 2024-01-06. Theoretical Framework for the Optimization of Microphone Array Configuration for Humanoid Robot Audition. https://doi.org/10.1109/taslp.2014.2351133

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Diarization Error Decomposition Under Pause Annotation Ambiguity

Speaker diarization evaluation is sensitive to ambiguity in pause annotation, which can inflate diarization error rate (DER) or obscure genuine model errors. We show that morphological closing, which has been used for pause-tolerant diarization evaluation, discards segment-level distinctions. Instead, we propose an exact, overlap-aware decomposition of standard DER into a pause-attributable component, consisting of errors compatible with pause filling, and a residual core component that can serve as a proxy for intrinsic diarization errors. The decomposition leaves DER unchanged, while the pause-attributable and core components vary monotonically with the pause threshold and eventually saturate. Experiments spanning synthetic transformations, annotation mismatch, cross-domain evaluation, and tight-boundary diarization show that the decomposition reveals error sources not apparent from standard DER.

eess.AS↗
arXiv2026

Less can be More: What Aspects of Speech Drive End-of-Turn Detection

In conversational AI, detecting when a speaker has finished talking is crucial for natural turn taking. While recent work incorporates semantics, the relative contribution of different modalities remains unclear. We present a controlled ablation of acoustic, prosodic, and semantic signals for streaming end of turn detection using a lightweight trimodal classifier. Under identical training conditions, the acoustic prosodic combination achieves the best balance of accuracy and latency, achieving utterance F1 of 0.93 with 7.8% false alarms at 400ms median latency. Adding text increases premature detections without improving performance. Feature space analysis confirms that prosodic features have the strongest class separability, while text representations overlap substantially. These findings suggest that turn-taking is primarily conveyed through intonation and silence patterns rather than semantic completeness, enabling faster and more reliable systems without expensive text inference.

eess.AS↗
arXiv2026

Downstream-Task-Aware Unified Source Separation

Task-aware unified source separation (TUSS) enables a single model to handle diverse separation tasks by conditioning on input prompts. However, conventional TUSS does not account for downstream task requirements, such as whether the enhanced speech will be used for human listening or automatic speech recognition (ASR). In this paper, we propose a prompt extension framework for TUSS that incorporates downstream task information into the input prompts and switches the loss function according to the given prompt during training, enabling outputs with different signal characteristics at inference time. Specifically, we introduce an ASR-dedicated prompt paired with a regularized loss function that reduces speech artifacts to improve ASR robustness, while the standard prompt is paired with the conventional SNR loss function. Experiments on the LibriSpeech and JNAS corpora demonstrate that the proposed joint-training scheme enables a single model to improve ASR performance over noisy input across a wide range of SNR conditions by selecting the ASR-dedicated prompt, while maintaining general speech enhancement quality when the standard prompt is used.

eess.AS↗