arXiv subjects

Naoya Takahashi

Publications and source records attributed to Naoya Takahashi.

At least 19 recordsLinked to original sources

arXiv2026

Physics Models for Sim-to-Real Transfer in Professional-Level Robot Table Tennis

At competitive speeds and spins, a table tennis ball follows complex, counterintuitive trajectories that a robot must track and precisely counter within fractions of a second. Training a reinforcement learning policy capable of these skills is prohibitively expensive and dangerous in the real world, making high-fidelity simulation essential. Transferability of such policies, however, critically depends on how faithfully the simulation captures real-world dynamics - a requirement made even more stringent by the adversarial nature of the game, where any modeling inaccuracy becomes an exploitable weakness for the opponent. Prior state-of-the-art in robot table tennis generally focuses on a limited range of velocities and spins and fails to capture the richness of ball behaviors encountered in professional-level play. In this work, we present physics models for aerodynamic ball flight, ball-table contact, and ball-racket contact. that accurately capture the ball behavior over a vast range of speeds and spins relevant to the game. Specifically, we model drag and Magnus force coefficients as functions of Reynolds number and spin ratio in the aerodynamics equations. For the table contact model we model effects of ball buckling on the coefficient of restitution and incorporate residuals into the instantaneous point-contact models. For the racket contact model, we introduce a residual neural network component to complement coefficients related to normal and tangential coefficients of restitution as well as torsional spin damping. Evaluated on an unprecedentedly large dataset of competitive matches (277 games), the proposed models significantly reduces prediction errors (e.g., 59% median landing-position error reduction). The resulting models were used to train the RL policies for the first real-world robot table tennis AI agent capable of competing against professional players.

cs.RO↗

arXiv2026

Event-based Gaze Control System for Accurate Real-time Spin Estimation in Professional Ball Games

Spin plays a crucial role in many ball sports due to its effect on the trajectory of the ball. Vision-based estimation of the ball's spin during a game with conventional cameras is challenging due to the ball's small size, high speed, and fast rotation. To address these challenges, we propose an event-based active vision system that can track unmodified balls and measure their spin in real time. The system consists of an event camera for its high temporal resolution and minimal motion blur, high-speed pan/tilt galvanometer mirrors to keep the ball in the field of view, and a low-latency focus-tunable telephoto lens to increase the spatial resolution on the ball and keep it in focus. To track the ball, we use a hybrid approach that combines 2D event-based detection for centering and 3D positions from a ball localization system for re-initialization. For high-accuracy spin estimation, we propose an offline method that performs contrast maximization on the sphere (s-CMax). This method achieves state-of-the-art accuracy on static balls across multiple sports (table tennis, baseball, tennis, and golf), with mean magnitude and axis errors of 1.2% and 1.5 degrees, respectively. We then develop a low-latency online method for table tennis as a case study in real-time applications. This method uses an uncertainty-aware convolutional neural network trained on pseudo-ground-truth spin labels from the offline approach, combined with a GPU-accelerated batch implementation of contrast maximization for refinement. We demonstrate reliable tracking and spin estimation with a three-view setup during professional table tennis matches, with high accuracy (8.8% magnitude and 6.4 degrees axis mismatch w.r.t. the offline method), 3 ms latency, and 750 Hz throughput.

cs.CV↗

arXiv2026

1000 Rallies: An Event-Camera Dataset and Real-Time Learned Ball-State Estimation for Robotic Table Tennis

Robotic table tennis has emerged as a compelling benchmark for real-time robotic perception due to its fast ball dynamics and stringent timing requirements. Accurate, high-frequency, and low-latency ball state estimation is critical for reliable trajectory prediction and timely control. Traditional frame-based cameras face an inherent trade-off: low frame rates leave temporal blind spots that miss fast-moving objects and high frame rates raise data and computational cost. Event cameras instead offer microsecond temporal resolution and, under sufficient illumination, remain largely free of motion blur even at high ball speeds. However, the community lacks large-scale datasets to develop and benchmark event-based perception in realistic sports scenarios. We address this gap by introducing the first large-scale event-camera dataset for table tennis, comprising over 1000 rallies from a diverse group of players ranging from amateurs to elite-level athletes. Each recording captures the event stream alongside 14 synchronized high-speed frame-based cameras at 200 FPS, which we use to produce 1 kHz pseudo ground-truth labels for ball position, velocity, and spin. Building on this dataset, we train a convolutional neural network robust to background player motion that jointly estimates the ball's position and velocity in the image-plane from events. Treating the predicted velocity as an additional measurement in the Kalman filter reduces bounce-point prediction error by 36% relative to a position-only baseline. Finally, we close the perception-action loop by integrating the event-based system with a Stäubli robotic arm, enabling the first real-time human-robot table tennis rallies driven by event-based perception.

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arXiv2026

Bridging the sim2real gap in the table tennis robot with a transformer-based ball states predictor

Robotic table tennis is a representative benchmark for high-speed, closed-loop robotic control in dynamic environments, where accurate and fast prediction of ball states is critical for reliable planning and control. Physics-based approaches rely heavily on accurate parameter identification and precise initial state, while learning-based methods often struggle to capture long-range temporal dependencies and are typically trained on limited or simulated data. We propose a transformer-based framework for table tennis ball state prediction that leverages attention mechanisms to model long-range temporal correlations directly from historical observations, without relying on explicit flight or bounce models. To support robust learning and generalization, we collected a large-scale real-world dataset from players of varying skill levels and diverse ball cannon configurations. The combination of a high-capacity transformer architecture and extensive real-world data enables accurate long-horizon forecasting. Building on this capability, we introduce a plug-and-play sim-to-real transfer strategy, Swap Predictor at Deployment (SPAD), which replaces the physics-based simulator used during training with the proposed real-world-trained predictor at deployment, improving the sim-to-real transferability of the policy without requiring retraining. We demonstrate that this simple substitution effectively narrows the sim-to-real gap while preserving the efficiency and scalability of simulation-based training.

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arXiv2025

Stereo Sound Event Localization and Detection with Onscreen/offscreen Classification

This paper presents the objective, dataset, baseline, and metrics of Task 3 of the DCASE2025 Challenge on sound event localization and detection (SELD). In previous editions, the challenge used four-channel audio formats of first-order Ambisonics (FOA) and microphone array. In contrast, this year's challenge investigates SELD with stereo audio data (termed stereo SELD). This change shifts the focus from more specialized 360° audio and audiovisual scene analysis to more commonplace audio and media scenarios with limited field-of-view (FOV). Due to inherent angular ambiguities in stereo audio data, the task focuses on direction-of-arrival (DOA) estimation in the azimuth plane (left-right axis) along with distance estimation. The challenge remains divided into two tracks: audio-only and audiovisual, with the audiovisual track introducing a new sub-task of onscreen/offscreen event classification necessitated by the limited FOV. This challenge introduces the DCASE2025 Task3 Stereo SELD Dataset, whose stereo audio and perspective video clips are sampled and converted from the STARSS23 recordings. The baseline system is designed to process stereo audio and corresponding video frames as inputs. In addition to the typical SELD event classification and localization, it integrates onscreen/offscreen classification for the audiovisual track. The evaluation metrics have been modified to introduce an onscreen/offscreen accuracy metric, which assesses the models' ability to identify which sound sources are onscreen. In the experimental evaluation, the baseline system performs reasonably well with the stereo audio data.

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arXiv2024

LOCKEY: A Novel Approach to Model Authentication and Deepfake Tracking

This paper presents a novel approach to deter unauthorized deepfakes and enable user tracking in generative models, even when the user has full access to the model parameters, by integrating key-based model authentication with watermarking techniques. Our method involves providing users with model parameters accompanied by a unique, user-specific key. During inference, the model is conditioned upon the key along with the standard input. A valid key results in the expected output, while an invalid key triggers a degraded output, thereby enforcing key-based model authentication. For user tracking, the model embeds the user's unique key as a watermark within the generated content, facilitating the identification of the user's ID. We demonstrate the effectiveness of our approach on two types of models, audio codecs and vocoders, utilizing the SilentCipher watermarking method. Additionally, we assess the robustness of the embedded watermarks against various distortions, validating their reliability in various scenarios.

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arXiv2024

SilentCipher: Deep Audio Watermarking

In the realm of audio watermarking, it is challenging to simultaneously encode imperceptible messages while enhancing the message capacity and robustness. Although recent advancements in deep learning-based methods bolster the message capacity and robustness over traditional methods, the encoded messages introduce audible artefacts that restricts their usage in professional settings. In this study, we introduce three key innovations. Firstly, our work is the first deep learning-based model to integrate psychoacoustic model based thresholding to achieve imperceptible watermarks. Secondly, we introduce psuedo-differentiable compression layers, enhancing the robustness of our watermarking algorithm. Lastly, we introduce a method to eliminate the need for perceptual losses, enabling us to achieve SOTA in both robustness as well as imperceptible watermarking. Our contributions lead us to SilentCipher, a model enabling users to encode messages within audio signals sampled at 44.1kHz.

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arXiv2024

The Whole Is Greater than the Sum of Its Parts: Improving Music Source Separation by Bridging Network

This paper presents the crossing scheme (X-scheme) for improving the performance of deep neural network (DNN)-based music source separation (MSS) with almost no increasing calculation cost. It consists of three components: (i) multi-domain loss (MDL), (ii) bridging operation, which couples the individual instrument networks, and (iii) combination loss (CL). MDL enables the taking advantage of the frequency- and time-domain representations of audio signals. We modify the target network, i.e., the network architecture of the original DNN-based MSS, by adding bridging paths for each output instrument to share their information. MDL is then applied to the combinations of the output sources as well as each independent source; hence, we called it CL. MDL and CL can easily be applied to many DNN-based separation methods as they are merely loss functions that are only used during training and do not affect the inference step. Bridging operation does not increase the number of learnable parameters in the network. Experimental results showed that the validity of Open-Unmix (UMX), densely connected dilated DenseNet (D3Net) and convolutional time-domain audio separation network (Conv-TasNet) extended with our X-scheme, respectively called X-UMX, X-D3Net and X-Conv-TasNet, by comparing them with their original versions. We also verified the effectiveness of X-scheme in a large-scale data regime, showing its generality with respect to data size. X-UMX Large (X-UMXL), which was trained on large-scale internal data and used in our experiments, is newly available at https://github.com/asteroid-team/asteroid/tree/master/egs/musdb18/X-UMX.

eess.AS↗

arXiv2023

STARSS23: An Audio-Visual Dataset of Spatial Recordings of Real Scenes with Spatiotemporal Annotations of Sound Events

While direction of arrival (DOA) of sound events is generally estimated from multichannel audio data recorded in a microphone array, sound events usually derive from visually perceptible source objects, e.g., sounds of footsteps come from the feet of a walker. This paper proposes an audio-visual sound event localization and detection (SELD) task, which uses multichannel audio and video information to estimate the temporal activation and DOA of target sound events. Audio-visual SELD systems can detect and localize sound events using signals from a microphone array and audio-visual correspondence. We also introduce an audio-visual dataset, Sony-TAu Realistic Spatial Soundscapes 2023 (STARSS23), which consists of multichannel audio data recorded with a microphone array, video data, and spatiotemporal annotation of sound events. Sound scenes in STARSS23 are recorded with instructions, which guide recording participants to ensure adequate activity and occurrences of sound events. STARSS23 also serves human-annotated temporal activation labels and human-confirmed DOA labels, which are based on tracking results of a motion capture system. Our benchmark results demonstrate the benefits of using visual object positions in audio-visual SELD tasks. The data is available at https://zenodo.org/record/7880637.

cs.SD↗

arXiv2023

Robust One-Shot Singing Voice Conversion

Recent progress in deep generative models has improved the quality of voice conversion in the speech domain. However, high-quality singing voice conversion (SVC) of unseen singers remains challenging due to the wider variety of musical expressions in pitch, loudness, and pronunciation. Moreover, singing voices are often recorded with reverb and accompaniment music, which make SVC even more challenging. In this work, we present a robust one-shot SVC (ROSVC) that performs any-to-any SVC robustly even on such distorted singing voices. To this end, we first propose a one-shot SVC model based on generative adversarial networks that generalizes to unseen singers via partial domain conditioning and learns to accurately recover the target pitch via pitch distribution matching and AdaIN-skip conditioning. We then propose a two-stage training method called Robustify that train the one-shot SVC model in the first stage on clean data to ensure high-quality conversion, and introduces enhancement modules to the encoders of the model in the second stage to enhance the feature extraction from distorted singing voices. To further improve the voice quality and pitch reconstruction accuracy, we finally propose a hierarchical diffusion model for singing voice neural vocoders. Experimental results show that the proposed method outperforms state-of-the-art one-shot SVC baselines for both seen and unseen singers and significantly improves the robustness against distortions.

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arXiv2023

Iteratively Improving Speech Recognition and Voice Conversion

Many existing works on voice conversion (VC) tasks use automatic speech recognition (ASR) models for ensuring linguistic consistency between source and converted samples. However, for the low-data resource domains, training a high-quality ASR remains to be a challenging task. In this work, we propose a novel iterative way of improving both the ASR and VC models. We first train an ASR model which is used to ensure content preservation while training a VC model. In the next iteration, the VC model is used as a data augmentation method to further fine-tune the ASR model and generalize it to diverse speakers. By iteratively leveraging the improved ASR model to train VC model and vice-versa, we experimentally show improvement in both the models. Our proposed framework outperforms the ASR and one-shot VC baseline models on English singing and Hindi speech domains in subjective and objective evaluations in low-data resource settings.

cs.SD↗

arXiv2023

CLIPSep: Learning Text-queried Sound Separation with Noisy Unlabeled Videos

Recent years have seen progress beyond domain-specific sound separation for speech or music towards universal sound separation for arbitrary sounds. Prior work on universal sound separation has investigated separating a target sound out of an audio mixture given a text query. Such text-queried sound separation systems provide a natural and scalable interface for specifying arbitrary target sounds. However, supervised text-queried sound separation systems require costly labeled audio-text pairs for training. Moreover, the audio provided in existing datasets is often recorded in a controlled environment, causing a considerable generalization gap to noisy audio in the wild. In this work, we aim to approach text-queried universal sound separation by using only unlabeled data. We propose to leverage the visual modality as a bridge to learn the desired audio-textual correspondence. The proposed CLIPSep model first encodes the input query into a query vector using the contrastive language-image pretraining (CLIP) model, and the query vector is then used to condition an audio separation model to separate out the target sound. While the model is trained on image-audio pairs extracted from unlabeled videos, at test time we can instead query the model with text inputs in a zero-shot setting, thanks to the joint language-image embedding learned by the CLIP model. Further, videos in the wild often contain off-screen sounds and background noise that may hinder the model from learning the desired audio-textual correspondence. To address this problem, we further propose an approach called noise invariant training for training a query-based sound separation model on noisy data. Experimental results show that the proposed models successfully learn text-queried universal sound separation using only noisy unlabeled videos, even achieving competitive performance against a supervised model in some settings.

cs.SD↗

arXiv2023

Cross-modal Face- and Voice-style Transfer

Image-to-image translation and voice conversion enable the generation of a new facial image and voice while maintaining some of the semantics such as a pose in an image and linguistic content in audio, respectively. They can aid in the content-creation process in many applications. However, as they are limited to the conversion within each modality, matching the impression of the generated face and voice remains an open question. We propose a cross-modal style transfer framework called XFaVoT that jointly learns four tasks: image translation and voice conversion tasks with audio or image guidance, which enables the generation of ``face that matches given voice" and ``voice that matches given face", and intra-modality translation tasks with a single framework. Experimental results on multiple datasets show that XFaVoT achieves cross-modal style translation of image and voice, outperforming baselines in terms of quality, diversity, and face-voice correspondence.

cs.CV↗

arXiv2023

Nonparallel Emotional Voice Conversion For Unseen Speaker-Emotion Pairs Using Dual Domain Adversarial Network & Virtual Domain Pairing

Primary goal of an emotional voice conversion (EVC) system is to convert the emotion of a given speech signal from one style to another style without modifying the linguistic content of the signal. Most of the state-of-the-art approaches convert emotions for seen speaker-emotion combinations only. In this paper, we tackle the problem of converting the emotion of speakers whose only neutral data are present during the time of training and testing (i.e., unseen speaker-emotion combinations). To this end, we extend a recently proposed StartGANv2-VC architecture by utilizing dual encoders for learning the speaker and emotion style embeddings separately along with dual domain source classifiers. For achieving the conversion to unseen speaker-emotion combinations, we propose a Virtual Domain Pairing (VDP) training strategy, which virtually incorporates the speaker-emotion pairs that are not present in the real data without compromising the min-max game of a discriminator and generator in adversarial training. We evaluate the proposed method using a Hindi emotional database.

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arXiv2022

DiffRoll: Diffusion-based Generative Music Transcription with Unsupervised Pretraining Capability

In this paper we propose a novel generative approach, DiffRoll, to tackle automatic music transcription (AMT). Instead of treating AMT as a discriminative task in which the model is trained to convert spectrograms into piano rolls, we think of it as a conditional generative task where we train our model to generate realistic looking piano rolls from pure Gaussian noise conditioned on spectrograms. This new AMT formulation enables DiffRoll to transcribe, generate and even inpaint music. Due to the classifier-free nature, DiffRoll is also able to be trained on unpaired datasets where only piano rolls are available. Our experiments show that DiffRoll outperforms its discriminative counterpart by 19 percentage points (ppt.) and our ablation studies also indicate that it outperforms similar existing methods by 4.8 ppt. Source code and demonstration are available https://sony.github.io/DiffRoll/.

cs.SD↗

arXiv2022

Hierarchical Diffusion Models for Singing Voice Neural Vocoder

Recent progress in deep generative models has improved the quality of neural vocoders in speech domain. However, generating a high-quality singing voice remains challenging due to a wider variety of musical expressions in pitch, loudness, and pronunciations. In this work, we propose a hierarchical diffusion model for singing voice neural vocoders. The proposed method consists of multiple diffusion models operating in different sampling rates; the model at the lowest sampling rate focuses on generating accurate low-frequency components such as pitch, and other models progressively generate the waveform at higher sampling rates on the basis of the data at the lower sampling rate and acoustic features. Experimental results show that the proposed method produces high-quality singing voices for multiple singers, outperforming state-of-the-art neural vocoders with a similar range of computational costs.

cs.SD↗

arXiv2022

STARSS22: A dataset of spatial recordings of real scenes with spatiotemporal annotations of sound events

This report presents the Sony-TAu Realistic Spatial Soundscapes 2022 (STARS22) dataset for sound event localization and detection, comprised of spatial recordings of real scenes collected in various interiors of two different sites. The dataset is captured with a high resolution spherical microphone array and delivered in two 4-channel formats, first-order Ambisonics and tetrahedral microphone array. Sound events in the dataset belonging to 13 target sound classes are annotated both temporally and spatially through a combination of human annotation and optical tracking. The dataset serves as the development and evaluation dataset for the Task 3 of the DCASE2022 Challenge on Sound Event Localization and Detection and introduces significant new challenges for the task compared to the previous iterations, which were based on synthetic spatialized sound scene recordings. Dataset specifications are detailed including recording and annotation process, target classes and their presence, and details on the development and evaluation splits. Additionally, the report presents the baseline system that accompanies the dataset in the challenge with emphasis on the differences with the baseline of the previous iterations; namely, introduction of the multi-ACCDOA representation to handle multiple simultaneous occurences of events of the same class, and support for additional improved input features for the microphone array format. Results of the baseline indicate that with a suitable training strategy a reasonable detection and localization performance can be achieved on real sound scene recordings. The dataset is available in https://zenodo.org/record/6387880.

eess.AS↗

arXiv2022

Leveraging Symmetrical Convolutional Transformer Networks for Speech to Singing Voice Style Transfer

In this paper, we propose a model to perform style transfer of speech to singing voice. Contrary to the previous signal processing-based methods, which require high-quality singing templates or phoneme synchronization, we explore a data-driven approach for the problem of converting natural speech to singing voice. We develop a novel neural network architecture, called SymNet, which models the alignment of the input speech with the target melody while preserving the speaker identity and naturalness. The proposed SymNet model is comprised of symmetrical stack of three types of layers - convolutional, transformer, and self-attention layers. The paper also explores novel data augmentation and generative loss annealing methods to facilitate the model training. Experiments are performed on the NUS and NHSS datasets which consist of parallel data of speech and singing voice. In these experiments, we show that the proposed SymNet model improves the objective reconstruction quality significantly over the previously published methods and baseline architectures. Further, a subjective listening test confirms the improved quality of the audio obtained using the proposed approach (absolute improvement of 0.37 in mean opinion score measure over the baseline system).

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