49 accepted papers
While cooperative perception can overcome the limitations of single-vehicle systems, the practical implementation of vehicle-to-vehicle and vehicle-to-infrastructure systems is often impeded by significant economic barriers. Aerial-ground cooperation (AGC), which pairs ground vehicles with drones, p
We introduce Mixture-of-Trees (MoT), a novel framework that integrates sparse expert activation with structured tree-based reasoning for efficient LLM inference. MoT employs a learned gating mechanism to selectively activate only the most relevant expert reasoning trees for each problem, where exper
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling this capability for autonomous drones is substantially more cha…
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling this capability for autonomous drones is substantially more cha
Multi-agent navigation in unknown and cluttered environments has broad applications, yet remains fundamentally challenging. In particular, dense agent-agent and agent-obstacle reactive interactions can exacerbate the inherent competition between collision-avoidance constraints and goal-reaching obje…
Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird
In open-ended domains, natural language instructions are often *underspecified*, mapping to multiple valid yet functionally distinct latent intents. While Large Language Models (LLMs) excel at generation, their ability to resolve such *task ambiguity* through interaction is currently hampered by *se…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate unit or rotor failures and maintain stable flight. Prior wo…
Evaluating autonomous driving systems in complex and diverse traffic scenarios through controllable simulation is essential to ensure their safety and reliability. However, existing traffic simulation methods face challenges in their controllability. To address this, we propose a novel diffusion-bas
Rap, a prominent genre of vocal performance, remains underexplored in vocal generation. General vocal synthesis depends on precise note and duration inputs, requiring users to have related musical knowledge, which limits flexibility. In contrast, rap typically features simpler melodies, with a core…
End-to-end autonomous driving offers a stream-lined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained traction in this domain, existing approaches often overlook the
Existing automatic audio generation methods struggle to generate podcast-like audio programs effectively. The key challenges lie in in-depth content generation, appropriate and expressive voice production. This paper proposed PodAgent, a comprehensive framework for creating audio programs. PodAgent…
Contrastive learning has achieved great success in skeleton-based representation learning recently. However, the prevailing methods are predominantly negative-based, necessitating additional momentum encoder and memory bank to get negative samples, which increases the difficulty of model training. F…
End-to-end models are emerging as the mainstream in autonomous driving perception. However, the inability to meticulously deconstruct their internal mechanisms results in diminished development efficacy and impedes the establishment of trust. Pioneering in the issue, we present the Independent Funct
Visual bird’s eye view (BEV) perception, dute to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception still relies on LiDAR data to construct ground truth databa
Style voice conversion aims to transform the speaking style of source speech into a desired style while keeping the original speaker’s identity. However, previous style voice conversion approaches primarily focus on well-defined domains such as emotional aspects, limiting their practical application…
Recent advancements in zero-shot text-to-speech (TTS) modeling have led to significant strides in generating high-fidelity and diverse speech. However, dialogue generation, along with achieving human-like naturalness in speech, continues to be a challenge. In this paper, we introduce CoVoMix: Conver…
Scaling text-to-speech (TTS) to large-scale, multi-speaker, and in-the-wild datasets is important to capture the diversity in human speech such as speaker identities, prosodies, and styles (e.g., singing). Current large TTS systems usually quantize speech into discrete tokens and use language models…
While recent large-scale text-to-speech (TTS) models have achieved significant progress, they still fall shorts in speech quality, similarity, and prosody. Considering that speech intricately encompasses various attributes (e.g., content, prosody, timbre, and acoustic details) that pose significant…
Speech conveys more information than text, as the same word can be uttered in various voices to convey diverse information. Compared to traditional text-to-speech (TTS) methods relying on speech prompts (reference speech) for voice variability, using text prompts (descriptions) is more user-friendly…
The expressive quality of synthesized speech for audiobooks is limited by generalized model architecture and unbalanced style distribution in the training data. To address these issues, in this paper, we propose a self-supervised style enhancing method with VQ-VAE-based pre-training for expressive a…
Audio editing is applicable for various purposes, such as adding background sound effects, replacing a musical instrument, and repairing damaged audio. Recently, some diffusion-based methods achieved zero-shot audio editing by using a diffusion and denoising process conditioned on the text descripti…
Direct speech-to-speech translation (S2ST) is an attractive research topic with many advantages compared to cascaded S2ST. However, direct S2ST suffers from the data scarcity problem because the corpora from the speech of the source language to the speech of the target language are very rare. To add…
Modeling hypernym-hyponym ("is-a") relations is very important for many natural language processing (NLP) tasks, such as classification, natural language inference and relation extraction. Existing work on is-a relation extraction is mostly in the English language environment. Due to the flexibility…
This paper describes the Microsoft Text-to-Speech (TTS) system: LeanSpeech for LIMMITS (Lightweight, Multi-speaker, Multi-lingual Indic TTS) Challenge 2023<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup>, which is part of ICASSP2023 to encourage…
SpeechT5, a multimodal learning framework which explores encoder-decoder pre-training by leveraging both unlabeled speech and text, has been proven to be effective on a wide variety of speech processing tasks. In this paper, we enhance SpeechT5 by adding a new sub-task on prosody modeling (prosody-a…
Video dubbing aims to translate the original speech in a film or television program into the speech in a target language, which can be achieved with a cascaded system consisting of speech recognition, machine translation and speech synthesis. To ensure the translated speech to be well aligned with t…
Binaural audio plays a significant role in constructing immersive augmented and virtual realities. As it is expensive to record binaural audio from the real world, synthesizing them from mono audio has attracted increasing attention. This synthesis process involves not only the basic physical warpin…
"Detecting and segmenting objects within whole slide images is essential in computational pathology workflow. Self-supervised learning (SSL) is appealing to such annotation-heavy tasks. Despite the extensive benchmarks in natural images for dense tasks, such studies are, unfortunately, absent in cur…
Up-to-date High-Definition (HD) maps are essential for self-driving cars. To achieve constantly updated HD maps, we present a deep neural network (DNN), Diff-Net, to detect changes in them. Compared to traditional methods based on object detectors, the essential design in our work is a parallel feat…
Machine Speech Chain integrates both end-to-end (E2E) automatic speech recognition (ASR) and neural text-to-speech (TTS) into one circle for joint training. It has been proven that it can effectively leverage a large amount of unpaired data in the spirit of data augmentation. In this paper, we explo…
FastSpeech, as a feed-forward transformer based TTS, can avoid the slow serial, autoregressive inference to generate the target mel-spectrogram in a parallel way. As a non-autoregressive TTS, the latency and computation load in inference is shifted from vocoder to transformer where the efficiency is…
Denoising diffusion probabilistic models (diffusion models for short) require a large number of iterations in inference to achieve the generation quality that matches or surpasses the state-of-the-art generative models, which invariably results in slow inference speed. Previous approaches aim to opt…
This paper proposes ProsodySpeech, a novel prosody model to enhance encoder-decoder neural Text-To-Speech (TTS), to generate high expressive and personalized speech even with very limited training data. First, we use a Prosody Extractor built from a large speech corpus with various speakers to gener…
Morphology of neuron trees is a key indicator to delineate neuronal cell-types, analyze brain development process, and evaluate pathological changes in neurological diseases. Traditional analysis mostly relies on heuristic features and visual inspections. A quantitative, informative, and comprehensi…
LiDAR map matching(LMM) is a critical localization technique in autonomous driving while existing methods have problems in terms of both accuracy and robustness when driving in the scenes with poor structure information (e.g. highways). This paper put forward a multi-level intensity map based cascad…
Dental forensic identification targets to identify persons with dental traces. The task is vital for the investigation of criminal scenes and mass disasters because of the resistance of dental structures and the wide-existence of dental imaging. However, no widely accepted automated solution is ava…
Interactions between entities in knowledge graph (KG) provide rich knowledge for language representation learning. However, existing knowledge-enhanced pretrained language models (PLMs) only focus on entity information and ignore the fine-grained relationships between entities. In this work, we prop…
Panoramic X-ray (PX) provides a 2D picture of the patient's mouth in a panoramic view to help dentists observe the invisible disease inside the gum. However, it provides limited 2D information compared with cone-beam computed tomography (CBCT), another dental imaging method that generates a 3D pictu…
This paper presents a speech BERT model to extract embedded prosody information in speech segments for improving the prosody of synthesized speech in neural text-to-speech (TTS). As a pre-trained model, it can learn prosody attributes from a large amount of speech data, which can utilize more data t…
With the advent of recurrent neural network transducer (RNN-T) model, the performance of keyword spotting (KWS) systems has greatly improved. However, the KWS systems, employed for wake-word detection, still rely on the availability of keyword specific training data for achieving reasonable performa…
Recent advances of neural TTS have made "human parity" synthesized speech possible when a large amount of studio-quality training data from a voice talent is available. However, with only limited, casual recordings from an ordinary speaker, human-like TTS is still a big challenge, in addition to oth…
In this paper, a bio-inspired monocular vision perception method combined with a learning-based reaction local planner for obstacle avoidance of micro UAVs is presented. The system is more computationally efficient than other vision-based perception and navigation methods such as SLAM and optical fl…
We propose to use the personalized speech synthesis and the neural language generator to synthesize content relevant personalized speech for rapid speaker adaptation. It has two distinct aspects: First, it relieves the general data sparsity issue in rapid adaptation via making use of additional synt…
In this paper, we introduce the Variational Autoencoder (VAE) to an end-to-end speech synthesis model, to learn the latent representation of speaking styles in an unsupervised manner. The style representation learned through VAE shows good properties such as disentangling, scaling, and combination,…
We have successfully proposed to use multi-speaker modelling in DNN-based TTS synthesis for improved voice quality with limited available data from a speaker. In this paper, we propose a new speaker and language factorized DNN, where speaker-specific layers are used for multi-speaker modelling, and…
Multi-speaker TTS trained with a general DNN has outperformed individually modelled baseline [1]. Multi-speaker DNN takes advantages of larger amount of training data from multiple speakers to find robust transformations in the hidden layers and covers more speaker variability in the output regressi…
In DNN-based TTS synthesis, DNNs hidden layers can be viewed as deep transformation for linguistic features and the output layers as representation of acoustic space to regress the transformed linguistic features to acoustic parameters. The deep-layered architectures of DNN can not only represent hi…
The current state of the art TTS synthesis can produce synthesized speech with highly decent quality if rich segmental and suprasegmental information are given. However, some suprasegmental features, e.g., Tone and Break (TOBI), are time consuming due to being manually labeled with a high inconsiste…