Author name cluster

Timo Gerkmann

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

2 author rows

ICLR Conference 2025 Conference Paper

FlowDec: A flow-based full-band general audio codec with high perceptual quality

Simon Welker
Matthew Le 0001
Ricky T. Q. Chen
Wei-Ning Hsu
Timo Gerkmann
Alexander Richard
Yi-Chiao Wu

We propose FlowDec, a neural full-band audio codec for general audio sampled at 48 kHz that combines non-adversarial codec training with a stochastic postfilter based on a novel conditional flow matching method. Compared to the prior work ScoreDec which is based on score matching, we generalize from speech to general audio and move from 24 kbit/s to as low as 4 kbit/s, while improving output quality and reducing the required postfilter DNN evaluations from 60 to 6 without any fine-tuning or distillation techniques. We provide theoretical insights and geometric intuitions for our approach in comparison to ScoreDec as well as another recent work that uses flow matching, and conduct ablation studies on our proposed components. We show that FlowDec is a competitive alternative to the recent GAN-dominated stream of neural codecs, achieving FAD scores better than those of the established GAN-based codec DAC and listening test scores that are on par, and producing qualitatively more natural reconstructions for speech and harmonic structures in music.

Details

NeurIPS Conference 2021 Conference Paper

Speech Separation Using an Asynchronous Fully Recurrent Convolutional Neural Network

Xiaolin Hu
Kai Li
Weiyi Zhang
Yi Luo
Jean-Marie Lemercier
Timo Gerkmann

Recent advances in the design of neural network architectures, in particular those specialized in modeling sequences, have provided significant improvements in speech separation performance. In this work, we propose to use a bio-inspired architecture called Fully Recurrent Convolutional Neural Network (FRCNN) to solve the separation task. This model contains bottom-up, top-down and lateral connections to fuse information processed at various time-scales represented by stages. In contrast to the traditional approach updating stages in parallel, we propose to first update the stages one by one in the bottom-up direction, then fuse information from adjacent stages simultaneously and finally fuse information from all stages to the bottom stage together. Experiments showed that this asynchronous updating scheme achieved significantly better results with much fewer parameters than the traditional synchronous updating scheme on speech separation. In addition, the proposed model achieved competitive or better results with high efficiency as compared to other state-of-the-art approaches on two benchmark datasets.

PDF Details

IROS Conference 2020 Conference Paper

Robust Robotic Pouring using Audition and Haptics

Hongzhuo Liang
Chuangchuang Zhou
Shuang Li 0014
Xiaojian Ma 0001
Norman Hendrich
Timo Gerkmann
Fuchun Sun 0001
Marcus Stoffel

Robust and accurate estimation of liquid height lies as an essential part of pouring tasks for service robots. However, vision-based methods often fail in occluded conditions while audio-based methods cannot work well in a noisy environment. We instead propose a multimodal pouring network (MP-Net) that is able to robustly predict liquid height by conditioning on both audition and haptics input. MP-Net is trained on a self-collected multimodal pouring dataset. This dataset contains 300 robot pouring recordings with audio and force/torque measurements for three types of target containers. We also augment the audio data by inserting robot noise. We evaluated MP-Net on our collected dataset and a wide variety of robot experiments. Both network training results and robot experiments demonstrate that MP-Net is robust against noise and changes to the task and environment. Moreover, we further combine the predicted height and force data to estimate the shape of the target container.

Details

IROS Conference 2019 Conference Paper

Making Sense of Audio Vibration for Liquid Height Estimation in Robotic Pouring

Hongzhuo Liang
Shuang Li 0014
Xiaojian Ma 0001
Norman Hendrich
Timo Gerkmann
Fuchun Sun 0001
Jianwei Zhang 0001

In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on opaque containers or concerning measuring precision. To tackle these drawbacks, we propose to make use of audio vibration sensing and design a deep neural network PouringNet to predict the liquid height from the audio fragment during the robotic pouring task. PouringNet is trained on our collected real-world pouring dataset with multimodal sensing data, which contains more than 3000 recordings of audio, force feedback, video and trajectory data of the human hand that performs the pouring task. Each record represents a complete pouring procedure. We conduct several evaluations on PouringNet with our dataset and robotic hardware. The results demonstrate that our PouringNet generalizes well across different liquid containers, positions of the audio receiver, initial liquid heights and types of liquid, and facilitates a more robust and accurate audio-based perception for robotic pouring.

Details