Linyi Huang

Zihao Chen, Zhentao Lin, Bi Zeng et al.

To ensure the reliable operation of speech systems across diverse environments, noise addition methods have emerged as the standard solution.However, existing methods offer limited coverage of real-world scenes and depend on pre-existing noise libraries and scene metadata.This paper presents prompt-based Dynamic Generative Scene-based Noise Addition (DGSNA), a novel approach driven by generative language models that integrates Dynamic Generation of Scene-based Information (DGSI) with Scene-based Noise Addition for Speech (SNAS).The DGSI module, with a BET (Background, Examples, Task) prompt framework, dynamically generates logic-compliant scene-based information, including scene dimensions, sound sources, and microphone positions, thereby addressing the challenges of scene enumeration and detailed description.Complementing this, the SNAS module employs a Time-Frequency Diffusion-based (TFD) Text-to-Audio model to synthesize scene-specific noise. By integrating this noise with clean speech via Room Impulse Response (RIR) filters, the module streamlines the traditionally labor-intensive process of replicating diverse acoustic environments.Experimental results show that DGSNA significantly enhances the robustness of speech recognition and keyword spotting models, achieving relative improvements of up to 11.32\%. Furthermore, DGSNA is highly compatible with existing noise addition techniques. Our implementation and demonstrations are available at https://dgsna.github.io.

Linyi Huang, Hui Zhang, Zijian Wu et al.

Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping capabilities is crucial for their deployment to accomplish diverse real-world tasks. Recent research in dexterous grasping, however, often focuses on power grasps while overlooking task- and object-specific functional grasping poses. In this paper, we introduce FunGrasp, a system that enables functional dexterous grasping across various robot hands and performs one-shot transfer to unseen objects. Given a single RGBD image of functional human grasping, our system estimates the hand pose and transfers it to different robotic hands via a human-to-robot (H2R) grasp retargeting module. Guided by the retargeted grasping poses, a policy is trained through reinforcement learning in simulation for dynamic grasping control. To achieve robust sim-to-real transfer, we employ several techniques including privileged learning, system identification, domain randomization, and gravity compensation. In our experiments, we demonstrate that our system enables diverse functional grasping of unseen objects using single RGBD images, and can be successfully deployed across various dexterous robot hands. The significance of the components is validated through comprehensive ablation studies. Project page: https://hly-123.github.io/FunGrasp/ .