Ego-Noise Reduction of a Mobile Robot Using Noise Spatial Covariance Matrix Learning and Minimum Variance Distortionless Response
Bibliographic record
Abstract
The performance of speech and events recognition systems significantly improved recently thanks to deep learning methods. However, some of these tasks remain challenging when algorithms are deployed on robots due to the unseen mechanical noise and electrical interference generated by their actuators while training the neural networks. Ego-noise reduction as a preprocessing step therefore can help solve this issue when using pre-trained speech and event recognition algorithms on robots. In this paper, we propose a new method to reduce ego-noise using only a microphone array and less than two minute of noise recordings. Using Principal Component Analysis (PCA), the best covariance matrix candidate is selected from a dictionary created online during calibration and used with the Minimum Variance Distortionless Response (MVDR) beamformer. Results show that the proposed method runs in real-time, improves the signal-to-distortion ratio (SDR) by up to 10 dB, decreases the word error rate (WER) by 55% in some cases and increases the Average Precision (AP) of event detection by up to 0.2.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".