7 accepted papers
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level formulations are used to simultaneously optimize the robot desi
Trajectory optimization methods have become ubiquitous for the motion planning and control of underactuated robots for e.g., quadrupeds, humanoids etc. While they have been extensively used in the case of serial or tree type robots, they are seldomly used for planning and control of robots with clos…
We introduce a new cross-modal fusion technique designed for generative error correction in automatic speech recognition (ASR). Our methodology leverages both acoustic information and external linguistic representations to generate accurate speech transcription contexts. This marks a step towards a…
The end-to-end (E2E) automatic speech recognition (ASR) systems are often required to operate in reverberant conditions, where the long-term sub-band envelopes of the speech are temporally smeared. In this paper, we develop a feature enhancement approach using a neural model operating on sub-band te…
Modeling closed loop mechanisms is a necessity for the control and simulation of various systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward and inverse dynamics for such systems require resolution of loop closure constraints which are often solved via numerica…
Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the ability to dance has the potential to make the human robot co-existence more acceptable in our society. Hence, dancing robots have generated a considerable research interest in the recent years. In this paper, we…
The state-of-art methods for acoustic beamforming in multi-channel ASR are based on a neural mask estimator that predicts the presence of speech and noise. These models are trained using a paired corpus of clean and noisy recordings (teacher model). In this paper, we attempt to move away from the re…