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In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and uncertainty due to noise. To address these challenges, our method estimates the user's intended goal from their commands and uses this goal to generate auxiliary commands through the autonomous system that are both at a higher input frequency and more continuous. Furthermore, by defining the confidence level of the estimation, we adaptively calculated the weights for combining user and autonomous commands, thus achieving shared control.

Robots that assist in daily life are required to locate specific instances of objects that match the user's desired object in the environment. This task is known as Instance-Specific Image Goal Navigation (InstanceImageNav), which requires a model capable of distinguishing between different instances within the same class. One significant challenge in robotics is that when a robot observes the same object from various 3D viewpoints, its appearance may differ greatly, making it difficult to recognize and locate the object accurately. In this study, we introduce a method, SimView, that leverages multi-view images based on a 3D semantic map of the environment and self-supervised learning by SimSiam to train an instance identification model on-site. The effectiveness of our approach is validated using a photorealistic simulator, Habitat Matterport 3D, created by scanning real home environments. Our results demonstrate a 1.7-fold improvement in task accuracy compared to CLIP, which is pre-trained multimodal contrastive learning for object search. This improvement highlights the benefits of our proposed fine-tuning method in enhancing the performance of assistive robots in InstanceImageNav tasks. The project website is https://emergentsystemlabstudent.github.io/MultiViewRetrieve/., Comment: See website at https://emergentsystemlabstudent.github.io/MultiViewRetrieve/. Submitted to IROS2024

Improving instance-specific image goal navigation (InstanceImageNav), which locates the identical object in a real-world environment from a query image, is essential for robotic systems to assist users in finding desired objects. The challenge lies in the domain gap between low-quality images observed by the moving robot, characterized by motion blur and low-resolution, and high-quality query images provided by the user. Such domain gaps could significantly reduce the task success rate but have not been the focus of previous work. To address this, we propose a novel method called Few-shot Cross-quality Instance-aware Adaptation (CrossIA), which employs contrastive learning with an instance classifier to align features between massive low- and few high-quality images. This approach effectively reduces the domain gap by bringing the latent representations of cross-quality images closer on an instance basis. Additionally, the system integrates an object image collection with a pre-trained deblurring model to enhance the observed image quality. Our method fine-tunes the SimSiam model, pre-trained on ImageNet, using CrossIA. We evaluated our method's effectiveness through an InstanceImageNav task with 20 different types of instances, where the robot identifies the same instance in a real-world environment as a high-quality query image. Our experiments showed that our method improves the task success rate by up to three times compared to the baseline, a conventional approach based on SuperGlue. These findings highlight the potential of leveraging contrastive learning and image enhancement techniques to bridge the domain gap and improve object localization in robotic applications. The project website is https://emergentsystemlabstudent.github.io/DomainBridgingNav/., Comment: See website at https://emergentsystemlabstudent.github.io/DomainBridgingNav/. Submitted to IROS2024

Large language models (LLMs) and vision-language models (VLMs) have been increasingly used in robotics for high-level cognition, but their use for low-level cognition, such as interpreting sensor information, remains underexplored. In robotic grasping, estimating the reflectance of objects is crucial for successful grasping, as it significantly impacts the distance measured by proximity sensors. We investigate whether LLMs can estimate reflectance from object names alone, leveraging the embedded human knowledge in distributional semantics, and if the latent structure of language in VLMs positively affects image-based reflectance estimation. In this paper, we verify that 1) LLMs such as GPT-3.5 and GPT-4 can estimate an object's reflectance using only text as input; and 2) VLMs such as CLIP can increase their generalization capabilities in reflectance estimation from images. Our experiments show that GPT-4 can estimate an object's reflectance using only text input with a mean error of 14.7%, lower than the image-only ResNet. Moreover, CLIP achieved the lowest mean error of 11.8%, while GPT-3.5 obtained a competitive 19.9% compared to ResNet's 17.8%. These results suggest that the distributional semantics in LLMs and VLMs increases their generalization capabilities, and the knowledge acquired by VLMs benefits from the latent structure of language., Comment: 24 pages, 13 figures, submitted to Advanced Robotics Special Issue on Real-World Robot Applications of the Foundation Models

Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability of the object's placing can cause the object to rotate in a certain direction (henceforth referred to as direction of corrective rotation). Existing methods often employ a Force/Torque (F/T) sensor to estimate the direction of corrective rotation by detecting the moment of rotation as a torque. However, its effectiveness may be hampered by sensor noise and the tension of the external wiring of robot cables. To address these issues, we propose a method for stable object placing using GelSights, vision-based tactile sensors, as an alternative to F/T sensors. Our method estimates the direction of corrective rotation of objects using the displacement of the black dot pattern on the elastomeric surface of GelSight. We calculate the Curl from vector analysis, indicative of the rotational field magnitude and direction of the displacement of the black dots pattern. Simultaneously, we calculate the difference (Diff) of displacement between the left and right fingers' GelSight's black dots. Then, the robot can manipulate the objects' pose using Curl and Diff features, facilitating stable placing. Across experiments, handling 18 differently characterized objects, our method achieves precise placing accuracy (less than 1-degree error) in nearly 100% of cases. An accompanying video is available at the following link: https://youtu.be/fQbmCksVHlU, Comment: 9 pages, 7 figures

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying stiffness tuning by performing Bayesian optimization by trial-and-error with robots. The proposed approach aims to reduce the cost of robot operation by predicting the robot contact trajectories from the variable stiffness inputs and using neural models. However, contact dynamics are inherently highly nonlinear, and their simulation requires iterative computations such as convex optimization. Moreover, approximating such computations by using finite-layer neural models is difficult. To overcome these limitations, the proposed DCM used the denoising diffusion models that could simulate the complex dynamics via iterative computations of multi-step denoising, thus improving the prediction accuracy. Stiffness tuning experiments conducted in simulated and real environments showed that the DCM achieved comparable performance to a conventional robot-based optimization method while reducing the number of robot trials.

As a sub-discipline of evolutionary and computational linguistics, emergent communication (EC) studies communication protocols, called emergent languages, arising in simulations where agents communicate. A key goal of EC is to give rise to languages that share statistical properties with natural languages. In this paper, we reinterpret Lewis's signaling game, a frequently used setting in EC, as beta-VAE and reformulate its objective function as ELBO. Consequently, we clarify the existence of prior distributions of emergent languages and show that the choice of the priors can influence their statistical properties. Specifically, we address the properties of word lengths and segmentation, known as Zipf's law of abbreviation (ZLA) and Harris's articulation scheme (HAS), respectively. It has been reported that the emergent languages do not follow them when using the conventional objective. We experimentally demonstrate that by selecting an appropriate prior distribution, more natural segments emerge, while suggesting that the conventional one prevents the languages from following ZLA and HAS., Comment: ICLR2024 camera-ready

In this paper, we propose a new self-supervised learning (SSL) method for representations that enable logic operations. Representation learning has been applied to various tasks, such as image generation and retrieval. The logical controllability of representations is important for these tasks. Although some methods have been shown to enable the intuitive control of representations using natural languages as the inputs, representation control via logic operations between representations has not been demonstrated. Some SSL methods using representation synthesis (e.g., elementwise mean and maximum operations) have been proposed, but the operations performed in these methods do not incorporate logic operations. In this work, we propose a logic-operable self-supervised representation learning method by replacing the existing representation synthesis with the OR operation on the probabilistic extension of many-valued logic. The representations comprise a set of feature-possession degrees, which are truth values indicating the presence or absence of each feature in the image, and realize the logic operations (e.g., OR and AND). Our method can generate a representation that has the features of both representations or only those features common to both representations. In addition, the expression of the ambiguous presence of a feature is realized by indicating the feature-possession degree by the probability distribution of truth values of the many-valued logic. We showed that our method performs competitively in single and multi-label classification tasks compared with prior SSL methods using synthetic representations. Moreover, experiments on image retrieval using MNIST and PascalVOC showed that the representations of our method can be operated by OR and AND operations., Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

The process of industrial box-packing, which involves the accurate placement of multiple objects, requires high-accuracy positioning and sequential actions. When a robot is tasked with placing an object at a specific location with high accuracy, it is important not only to have information about the location of the object to be placed, but also the posture of the object grasped by the robotic hand. Often, industrial box-packing requires the sequential placement of identically shaped objects into a single box. The robot's action should be determined by the same learned model. In factories, new kinds of products often appear and there is a need for a model that can easily adapt to them. Therefore, it should be easy to collect data to train the model. In this study, we designed a robotic system to automate real-world industrial tasks, employing a vision-based learning control model. We propose in-hand-view-sensitive Newtonian variational autoencoder (ihVS-NVAE), which employs an RGB camera to obtain in-hand postures of objects. We demonstrate that our model, trained for a single object-placement task, can handle sequential tasks without additional training. To evaluate efficacy of the proposed model, we employed a real robot to perform sequential industrial box-packing of multiple objects. Results showed that the proposed model achieved a 100% success rate in industrial box-packing tasks, thereby outperforming the state-of-the-art and conventional approaches, underscoring its superior effectiveness and potential in industrial tasks., Comment: 7 pages, 8 figures

Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather than safety (or compliance). Thus, this paper proposes a novel stiffness learning method to satisfy both task performance and compliance requirements. The proposed method optimizes the task and compliance objectives (T/C objectives) simultaneously via multi-objective Bayesian optimization. We define the stiffness search space by segmenting a demonstration into task phases, each with constant responsible stiffness. The segmentation is performed by identifying impedance control-aware switching linear dynamics (IC-SLD) from the demonstration. We also utilize the stiffness obtained by proposed IC-SLD as priors for efficient optimization. Experiments on simulated tasks and a real robot demonstrate that IC-SLD-based segmentation and the use of priors improve the optimization efficiency compared to existing baseline methods., Comment: Accepted to IROS2023

This paper proposes a generative probabilistic model integrating emergent communication and multi-agent reinforcement learning. The agents plan their actions by probabilistic inference, called control as inference, and communicate using messages that are latent variables and estimated based on the planned actions. Through these messages, each agent can send information about its actions and know information about the actions of another agent. Therefore, the agents change their actions according to the estimated messages to achieve cooperative tasks. This inference of messages can be considered as communication, and this procedure can be formulated by the Metropolis-Hasting naming game. Through experiments in the grid world environment, we show that the proposed PGM can infer meaningful messages to achieve the cooperative task.

We present a computational model for a symbol emergence system that enables the emergence of lexical knowledge with combinatoriality among agents through a Metropolis-Hastings naming game and cross-situational learning. Many computational models have been proposed to investigate combinatoriality in emergent communication and symbol emergence in cognitive and developmental robotics. However, existing models do not sufficiently address category formation based on sensory-motor information and semiotic communication through the exchange of word sequences within a single integrated model. Our proposed model facilitates the emergence of lexical knowledge with combinatoriality by performing category formation using multimodal sensory-motor information and enabling semiotic communication through the exchange of word sequences among agents in a unified model. Furthermore, the model enables an agent to predict sensory-motor information for unobserved situations by combining words associated with categories in each modality. We conducted two experiments with two humanoid robots in a simulated environment to evaluate our proposed model. The results demonstrated that the agents can acquire lexical knowledge with combinatoriality through interpersonal cross-situational learning based on the Metropolis-Hastings naming game and cross-situational learning. Furthermore, our results indicate that the lexical knowledge developed using our proposed model exhibits generalization performance for novel situations through interpersonal cross-modal inference.

In this study, we explore the emergence of symbols during interactions between individuals through an experimental semiotic study. Previous studies investigate how humans organize symbol systems through communication using artificially designed subjective experiments. In this study, we have focused on a joint attention-naming game (JA-NG) in which participants independently categorize objects and assign names while assuming their joint attention. In the theory of the Metropolis-Hastings naming game (MHNG), listeners accept provided names according to the acceptance probability computed using the Metropolis-Hastings (MH) algorithm. The theory of MHNG suggests that symbols emerge as an approximate decentralized Bayesian inference of signs, which is represented as a shared prior variable if the conditions of MHNG are satisfied. This study examines whether human participants exhibit behavior consistent with MHNG theory when playing JA-NG. By comparing human acceptance decisions of a partner's naming with acceptance probabilities computed in the MHNG, we tested whether human behavior is consistent with the MHNG theory. The main contributions of this study are twofold. First, we reject the null hypothesis that humans make acceptance judgments with a constant probability, regardless of the acceptance probability calculated by the MH algorithm. This result suggests that people followed the acceptance probability computed by the MH algorithm to some extent. Second, the MH-based model predicted human acceptance/rejection behavior more accurately than the other four models: Constant, Numerator, Subtraction, and Binary. This result indicates that symbol emergence in JA-NG can be explained using MHNG and is considered an approximate decentralized Bayesian inference.

In the studies on symbol emergence and emergent communication in a population of agents, a computational model was employed in which agents participate in various language games. Among these, the Metropolis-Hastings naming game (MHNG) possesses a notable mathematical property: symbol emergence through MHNG is proven to be a decentralized Bayesian inference of representations shared by the agents. However, the previously proposed MHNG is limited to a two-agent scenario. This paper extends MHNG to an N-agent scenario. The main contributions of this paper are twofold: (1) we propose the recursive Metropolis-Hastings naming game (RMHNG) as an N-agent version of MHNG and demonstrate that RMHNG is an approximate Bayesian inference method for the posterior distribution over a latent variable shared by agents, similar to MHNG; and (2) we empirically evaluate the performance of RMHNG on synthetic and real image data, enabling multiple agents to develop and share a symbol system. Furthermore, we introduce two types of approximations -- one-sample and limited-length -- to reduce computational complexity while maintaining the ability to explain communication in a population of agents. The experimental findings showcased the efficacy of RMHNG as a decentralized Bayesian inference for approximating the posterior distribution concerning latent variables, which are jointly shared among agents, akin to MHNG. Moreover, the utilization of RMHNG elucidated the agents' capacity to exchange symbols. Furthermore, the study discovered that even the computationally simplified version of RMHNG could enable symbols to emerge among the agents.

This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services in a building where pedestrians and a wide variety of robots coexist, such as delivery services in office buildings, hospitals, and apartments. It is often the case with these real-world applications that the time required for the robots to traverse a corridor takes a continuous value and is randomly distributed, and the prior knowledge of the probability distribution of the travel time is limited. Multi-Agent Path Finding has been widely studied and applied to robot management systems; however, automating the robot operation in such environments remains difficult. We propose 1) online re-planning to update the action plan of robots while it is executed, and 2) parameter update to estimate the probability distribution of travel time using Bayesian inference as the delay is observed. We use a greedy heuristic to obtain solutions in a limited computation time. Through simulations, we empirically compare the performance of our method to those of existing methods in terms of the conflict probability and the actual travel time of robots. The simulation results indicate that the proposed method can find travel paths with at least 50% fewer conflicts and a shorter actual total travel time than existing methods. The proposed method requires a small number of trials to achieve the performance because the parameter update is prioritized on the important edges for path planning, thereby satisfying the requirements of quick implementation of robust planning of automated delivery services., Comment: 9 pages, 5 figures

To perform dynamic cable manipulation to realize the configuration specified by a target image, we formulate dynamic cable manipulation as a stochastic forward model. Then, we propose a method to handle uncertainty by maximizing the expectation, which also considers estimation errors of the trained model. To avoid issues like multiple local minima and requirement of differentiability by gradient-based methods, we propose using a black-box optimization (BBO) to optimize joint angles to realize a goal image. Among BBO, we use the Tree-structured Parzen Estimator (TPE), a type of Bayesian optimization. By incorporating constraints into the TPE, the optimized joint angles are constrained within the range of motion. Since TPE is population-based, it is better able to detect multiple feasible configurations using the estimated inverse model. We evaluated image similarity between the target and cable images captured by executing the robot using optimal transport distance. The results show that the proposed method improves accuracy compared to conventional gradient-based approaches and methods that use deterministic models that do not consider uncertainty., Comment: 7 pages. Accepted at ICRA2023. An accompanying video is available at the following link: https://youtu.be/AMDTJRNEbek

Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based on interactions with their physical and social world in the manner of human learning and cognitive development. Based on this context, in this paper, we focus on the two concepts of world models and predictive coding. Recently, world models have attracted renewed attention as a topic of considerable interest in artificial intelligence. Cognitive systems learn world models to better predict future sensory observations and optimize their policies, i.e., controllers. Alternatively, in neuroscience, predictive coding proposes that the brain continuously predicts its inputs and adapts to model its own dynamics and control behavior in its environment. Both ideas may be considered as underpinning the cognitive development of robots and humans capable of continual or lifelong learning. Although many studies have been conducted on predictive coding in cognitive robotics and neurorobotics, the relationship between world model-based approaches in AI and predictive coding in robotics has rarely been discussed. Therefore, in this paper, we clarify the definitions, relationships, and status of current research on these topics, as well as missing pieces of world models and predictive coding in conjunction with crucially related concepts such as the free-energy principle and active inference in the context of cognitive and developmental robotics. Furthermore, we outline the frontiers and challenges involved in world models and predictive coding toward the further integration of AI and robotics, as well as the creation of robots with real cognitive and developmental capabilities in the future., Comment: 28 pages, 3 figures

Autonomous robots need to learn the categories of various places by exploring their environments and interacting with users. However, preparing training datasets with linguistic instructions from users is time-consuming and labor-intensive. Moreover, effective exploration is essential for appropriate concept formation and rapid environmental coverage. To address this issue, we propose an active inference method, referred to as spatial concept formation with information gain-based active exploration (SpCoAE) that combines sequential Bayesian inference using particle filters and information gain-based destination determination in a probabilistic generative model. This study interprets the robot's action as a selection of destinations to ask the user, `What kind of place is this?' in the context of active inference. This study provides insights into the technical aspects of the proposed method, including active perception and exploration by the robot, and how the method can enable mobile robots to learn spatial concepts through active exploration. Our experiment demonstrated the effectiveness of the SpCoAE in efficiently determining a destination for learning appropriate spatial concepts in home environments., Comment: Accepted to Advanced Robotics

The human brain, among its several functions, analyzes the double articulation structure in spoken language, i.e., double articulation analysis (DAA). A hierarchical structure in which words are connected to form a sentence and words are composed of phonemes or syllables is called a double articulation structure. Where and how DAA is performed in the human brain has not been established, although some insights have been obtained. In addition, existing computational models based on a probabilistic generative model (PGM) do not incorporate neuroscientific findings, and their consistency with the brain has not been previously discussed. This study compared, mapped, and integrated these existing computational models with neuroscientific findings to bridge this gap, and the findings are relevant for future applications and further research. This study proposes a PGM for a DAA hypothesis that can be realized in the brain based on the outcomes of several neuroscientific surveys. The study involved (i) investigation and organization of anatomical structures related to spoken language processing, and (ii) design of a PGM that matches the anatomy and functions of the region of interest. Therefore, this study provides novel insights that will be foundational to further exploring DAA in the brain., Comment: Accepted to the 2022 IEEE International Conference on Development and Learning (ICDL 2022)

This paper proposes a new voice conversion (VC) task from human speech to dog-like speech while preserving linguistic information as an example of human to non-human creature voice conversion (H2NH-VC) tasks. Although most VC studies deal with human to human VC, H2NH-VC aims to convert human speech into non-human creature-like speech. Non-parallel VC allows us to develop H2NH-VC, because we cannot collect a parallel dataset that non-human creatures speak human language. In this study, we propose to use dogs as an example of a non-human creature target domain and define the "speak like a dog" task. To clarify the possibilities and characteristics of the "speak like a dog" task, we conducted a comparative experiment using existing representative non-parallel VC methods in acoustic features (Mel-cepstral coefficients and Mel-spectrograms), network architectures (five different kernel-size settings), and training criteria (variational autoencoder (VAE)- based and generative adversarial network-based). Finally, the converted voices were evaluated using mean opinion scores: dog-likeness, sound quality and intelligibility, and character error rate (CER). The experiment showed that the employment of the Mel-spectrogram improved the dog-likeness of the converted speech, while it is challenging to preserve linguistic information. Challenges and limitations of the current VC methods for H2NH-VC are highlighted., Comment: 5 pages, 4 figures

In this study, we propose a head-to-head type (H2H-type) inter-personal multimodal Dirichlet mixture (Inter-MDM) by modifying the original Inter-MDM, which is a probabilistic generative model that represents the symbol emergence between two agents as multiagent multimodal categorization. A Metropolis--Hastings method-based naming game based on the Inter-MDM enables two agents to collaboratively perform multimodal categorization and share signs with a solid mathematical foundation of convergence. However, the conventional Inter-MDM presumes a tail-to-tail connection across a latent word variable, causing inflexibility of the further extension of Inter-MDM for modeling a more complex symbol emergence. Therefore, we propose herein a head-to-head type (H2H-type) Inter-MDM that treats a latent word variable as a child node of an internal variable of each agent in the same way as many prior studies of multimodal categorization. On the basis of the H2H-type Inter-MDM, we propose a naming game in the same way as the conventional Inter-MDM. The experimental results show that the H2H-type Inter-MDM yields almost the same performance as the conventional Inter-MDM from the viewpoint of multimodal categorization and sign sharing., Comment: 7 pages, 4 figures, 5 tables

Constructive studies on symbol emergence systems seek to investigate computational models that can better explain human language evolution, the creation of symbol systems, and the construction of internal representations. This study provides a new model for emergent communication, which is based on a probabilistic generative model (PGM) instead of a discriminative model based on deep reinforcement learning. We define the Metropolis-Hastings (MH) naming game by generalizing previously proposed models. It is not a referential game with explicit feedback, as assumed by many emergent communication studies. Instead, it is a game based on joint attention without explicit feedback. Mathematically, the MH naming game is proved to be a type of MH algorithm for an integrative PGM that combines two agents that play the naming game. From this viewpoint, symbol emergence is regarded as decentralized Bayesian inference, and semiotic communication is regarded as inter-personal cross-modal inference. This notion leads to the collective predictive coding hypothesis} regarding language evolution and, in general, the emergence of symbols. We also propose the inter-Gaussian mixture model (GMM)+ variational autoencoder (VAE), a deep generative model for emergent communication based on the MH naming game. The model has been validated on MNIST and Fruits 360 datasets. Experimental findings demonstrate that categories are formed from real images observed by agents, and signs are correctly shared across agents by successfully utilizing both of the observations of agents via the MH naming game. Furthermore, scholars verified that visual images were recalled from signs uttered by agents. Notably, emergent communication without supervision and reward feedback improved the performance of the unsupervised representation learning of agents., Comment: 23 pages, 12 figures

In this study, a novel self-supervised learning (SSL) method is proposed, which considers SSL in terms of variational inference to learn not only representation but also representation uncertainties. SSL is a method of learning representations without labels by maximizing the similarity between image representations of different augmented views of an image. Meanwhile, variational autoencoder (VAE) is an unsupervised representation learning method that trains a probabilistic generative model with variational inference. Both VAE and SSL can learn representations without labels, but their relationship has not been investigated in the past. Herein, the theoretical relationship between SSL and variational inference has been clarified. Furthermore, a novel method, namely variational inference SimSiam (VI-SimSiam), has been proposed. VI-SimSiam can predict the representation uncertainty by interpreting SimSiam with variational inference and defining the latent space distribution. The present experiments qualitatively show that VI- SimSiam could learn uncertainty by comparing input images and predicted uncertainties. Additionally, we described a relationship between estimated uncertainty and classification accuracy., Comment: Accepted to ICCV 2023

Assisting individuals in their daily activities through autonomous mobile robots, especially for users without specialized knowledge, is crucial. Specifically, the capability of robots to navigate to destinations based on human speech instructions is essential. While robots can take different paths to the same goal, the shortest path is not always the best. A preferred approach is to accommodate waypoint specifications flexibly, planning an improved alternative path, even with detours. Additionally, robots require real-time inference capabilities. This study aimed to realize a hierarchical spatial representation using a topometric semantic map and path planning with speech instructions, including waypoints. This paper presents Spatial Concept-based Topometric Semantic Mapping for Hierarchical Path Planning (SpCoTMHP), integrating place connectivity. This approach offers a novel integrated probabilistic generative model and fast approximate inference across hierarchy levels. A formulation based on control as probabilistic inference theoretically supports the proposed path planning algorithm. We conducted experiments in home environments using the Toyota Human Support Robot on the SIGVerse simulator and in a lab-office environment with the real robot, Albert. Users issued speech commands specifying the waypoint and goal, such as "Go to the bedroom via the corridor." Navigation experiments using speech instructions with a waypoint demonstrated a performance improvement of SpCoTMHP over the baseline hierarchical path planning method with heuristic path costs (HPP-I), in terms of the weighted success rate at which the robot reaches the closest target and passes the correct waypoints, by 0.590. The computation time was significantly accelerated by 7.14 seconds with SpCoTMHP compared to baseline HPP-I in advanced tasks., Comment: Accepted to Frontiers in Robotics and AI

In this paper, we propose Multi-View Dreaming, a novel reinforcement learning agent for integrated recognition and control from multi-view observations by extending Dreaming. Most current reinforcement learning method assumes a single-view observation space, and this imposes limitations on the observed data, such as lack of spatial information and occlusions. This makes obtaining ideal observational information from the environment difficult and is a bottleneck for real-world robotics applications. In this paper, we use contrastive learning to train a shared latent space between different viewpoints, and show how the Products of Experts approach can be used to integrate and control the probability distributions of latent states for multiple viewpoints. We also propose Multi-View DreamingV2, a variant of Multi-View Dreaming that uses a categorical distribution to model the latent state instead of the Gaussian distribution. Experiments show that the proposed method outperforms simple extensions of existing methods in a realistic robot control task., Comment: 7 pages, 8 figures

An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a plug and socket is fundamental for achieving the task. World models are promising technologies for visuomotor control because they obtain appropriate state representation to jointly optimize feature extraction and latent dynamics model. Recent studies show that the NewtonianVAE, a type of the world model, acquires latent space equivalent to mapping from images to physical coordinates. Proportional control can be achieved in the latent space of NewtonianVAE. However, applying NewtonianVAE to high-accuracy industrial tasks in physical environments is an open problem. Moreover, the existing framework does not consider the grasp pose compensation in the obtained latent space. In this work, we proposed tactile-sensitive NewtonianVAE and applied it to a USB connector insertion with grasp pose variation in the physical environments. We adopted a GelSight-type tactile sensor and estimated the insertion position compensated by the grasp pose of the plug. Our method trains the latent space in an end-to-end manner, and no additional engineering and annotation are required. Simple proportional control is available in the obtained latent space. Moreover, we showed that the original NewtonianVAE fails in some situations, and demonstrated that domain knowledge induction improves model accuracy. This domain knowledge can be easily obtained using robot specification and grasp pose error measurement. We demonstrated that our proposed method achieved a 100\% success rate and 0.3 mm positioning accuracy in the USB connector insertion task in the physical environment. It outperformed SOTA CNN-based two-stage goal pose regression with grasp pose compensation using coordinate transformation., Comment: 7 pages, 4 figures

The present paper proposes a novel reinforcement learning method with world models, DreamingV2, a collaborative extension of DreamerV2 and Dreaming. DreamerV2 is a cutting-edge model-based reinforcement learning from pixels that uses discrete world models to represent latent states with categorical variables. Dreaming is also a form of reinforcement learning from pixels that attempts to avoid the autoencoding process in general world model training by involving a reconstruction-free contrastive learning objective. The proposed DreamingV2 is a novel approach of adopting both the discrete representation of DreamingV2 and the reconstruction-free objective of Dreaming. Compared to DreamerV2 and other recent model-based methods without reconstruction, DreamingV2 achieves the best scores on five simulated challenging 3D robot arm tasks. We believe that DreamingV2 will be a reliable solution for robot learning since its discrete representation is suitable to describe discontinuous environments, and the reconstruction-free fashion well manages complex vision observations., Comment: The code will be available soon

Human infants acquire their verbal lexicon with minimal prior knowledge of language based on the statistical properties of phonological distributions and the co-occurrence of other sensory stimuli. This study proposes a novel fully unsupervised learning method for discovering speech units using phonological information as a distributional cue and object information as a co-occurrence cue. The proposed method can acquire words and phonemes from speech signals using unsupervised learning and utilize object information based on multiple modalities-vision, tactile, and auditory-simultaneously. The proposed method is based on the nonparametric Bayesian double articulation analyzer (NPB-DAA) discovering phonemes and words from phonological features, and multimodal latent Dirichlet allocation (MLDA) categorizing multimodal information obtained from objects. In an experiment, the proposed method showed higher word discovery performance than baseline methods. Words that expressed the characteristics of objects (i.e., words corresponding to nouns and adjectives) were segmented accurately. Furthermore, we examined how learning performance is affected by differences in the importance of linguistic information. Increasing the weight of the word modality further improved performance relative to that of the fixed condition., Comment: Accepted to IEEE TRANSACTIONS ON COGNITIVE DEVELOPMENTAL SYSTEMS

This paper describes a computational model of multiagent multimodal categorization that realizes emergent communication. We clarify whether the computational model can reproduce the following functions in a symbol emergence system, comprising two agents with different sensory modalities playing a naming game. (1) Function for forming a shared lexical system that comprises perceptual categories and corresponding signs, formed by agents through individual learning and semiotic communication between agents. (2) Function to improve the categorization accuracy in an agent via semiotic communication with another agent, even when some sensory modalities of each agent are missing. (3) Function that an agent infers unobserved sensory information based on a sign sampled from another agent in the same manner as cross-modal inference. We propose an interpersonal multimodal Dirichlet mixture (Inter-MDM), which is derived by dividing an integrative probabilistic generative model, which is obtained by integrating two Dirichlet mixtures (DMs). The Markov chain Monte Carlo algorithm realizes emergent communication. The experimental results demonstrated that Inter-MDM enables agents to form multimodal categories and appropriately share signs between agents. It is shown that emergent communication improves categorization accuracy, even when some sensory modalities are missing. Inter-MDM enables an agent to predict unobserved information based on a shared sign., Comment: 27 pages, 5 figures, 12 tables

Preserving the linguistic content of input speech is essential during voice conversion (VC). The star generative adversarial network-based VC method (StarGAN-VC) is a recently developed method that allows non-parallel many-to-many VC. Although this method is powerful, it can fail to preserve the linguistic content of input speech when the number of available training samples is extremely small. To overcome this problem, we propose the use of automatic speech recognition to assist model training, to improve StarGAN-VC, especially in low-resource scenarios. Experimental results show that using our proposed method, StarGAN-VC can retain more linguistic information than vanilla StarGAN-VC., Comment: 5 pages, 6 figures, Accepted to INTERSPEECH 2021

This paper proposes methods for unsupervised lexical acquisition for relative spatial concepts using spoken user utterances. A robot with a flexible spoken dialog system must be able to acquire linguistic representation and its meaning specific to an environment through interactions with humans as children do. Specifically, relative spatial concepts (e.g., front and right) are widely used in our daily lives, however, it is not obvious which object is a reference object when a robot learns relative spatial concepts. Therefore, we propose methods by which a robot without prior knowledge of words can learn relative spatial concepts. The methods are formulated using a probabilistic model to estimate the proper reference objects and distributions representing concepts simultaneously. The experimental results show that relative spatial concepts and a phoneme sequence representing each concept can be learned under the condition that the robot does not know which located object is the reference object. Additionally, we show that two processes in the proposed method improve the estimation accuracy of the concepts: generating candidate word sequences by class n-gram and selecting word sequences using location information. Furthermore, we show that clues to reference objects improve accuracy even though the number of candidate reference objects increases., Comment: 27 pages, 12 figures, submitted to Advanced Robotics

This paper shows that StarGAN-VC, a spectral envelope transformation method for non-parallel many-to-many voice conversion (VC), is capable of emotional VC (EVC). Although StarGAN-VC has been shown to enable speaker identity conversion, its capability for EVC for Japanese phrases has not been clarified. In this paper, we describe the direct application of StarGAN-VC to an EVC task with minimal fundamental frequency and aperiodicity processing. Through subjective evaluation experiments, we evaluated the performance of our StarGAN-EVC system in terms of its ability to achieve EVC for Japanese phrases. The subjective evaluation is conducted in terms of subjective classification and mean opinion score of neutrality and similarity. In addition, the interdependence between the source and target emotional domains was investigated from the perspective of the quality of EVC., Comment: Submitted to Interspeech 2021

Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand the reachable area in newly visited environments. However, conventional mapping approaches are limited by only considering sensor observation and control signals to estimate the current environment map. This paper proposes a novel SLAM method, map completion network-based SLAM (MCN-SLAM), based on a probabilistic generative model incorporating deep neural networks for map completion. These map completion networks are primarily trained in the framework of generative adversarial networks (GANs) to extract the global structure of large amounts of existing map data. We show in experiments that the proposed method can estimate the environment map 1.3 times better than the previous SLAM methods in the situation of partial observation., Comment: Accepted to Advanced Robotics

Infants acquire words and phonemes from unsegmented speech signals using segmentation cues, such as distributional, prosodic, and co-occurrence cues. Many pre-existing computational models that represent the process tend to focus on distributional or prosodic cues. This paper proposes a nonparametric Bayesian probabilistic generative model called the prosodic hierarchical Dirichlet process-hidden language model (Prosodic HDP-HLM). Prosodic HDP-HLM, an extension of HDP-HLM, considers both prosodic and distributional cues within a single integrative generative model. We conducted three experiments on different types of datasets, and demonstrate the validity of the proposed method. The results show that the Prosodic DAA successfully uses prosodic cues and outperforms a method that solely uses distributional cues. The main contributions of this study are as follows: 1) We develop a probabilistic generative model for time series data including prosody that potentially has a double articulation structure; 2) We propose the Prosodic DAA by deriving the inference procedure for Prosodic HDP-HLM and show that Prosodic DAA can discover words directly from continuous human speech signals using statistical information and prosodic information in an unsupervised manner; 3) We show that prosodic cues contribute to word segmentation more in naturally distributed case words, i.e., they follow Zipf's law., Comment: 11 pages, Submitted to IEEE Transactions on Cognitive and Developmental Systems

Building a humanlike integrative artificial cognitive system, that is, an artificial general intelligence (AGI), is the holy grail of the artificial intelligence (AI) field. Furthermore, a computational model that enables an artificial system to achieve cognitive development will be an excellent reference for brain and cognitive science. This paper describes an approach to develop a cognitive architecture by integrating elemental cognitive modules to enable the training of the modules as a whole. This approach is based on two ideas: (1) brain-inspired AI, learning human brain architecture to build human-level intelligence, and (2) a probabilistic generative model(PGM)-based cognitive system to develop a cognitive system for developmental robots by integrating PGMs. The development framework is called a whole brain PGM (WB-PGM), which differs fundamentally from existing cognitive architectures in that it can learn continuously through a system based on sensory-motor information. In this study, we describe the rationale of WB-PGM, the current status of PGM-based elemental cognitive modules, their relationship with the human brain, the approach to the integration of the cognitive modules, and future challenges. Our findings can serve as a reference for brain studies. As PGMs describe explicit informational relationships between variables, this description provides interpretable guidance from computational sciences to brain science. By providing such information, researchers in neuroscience can provide feedback to researchers in AI and robotics on what the current models lack with reference to the brain. Further, it can facilitate collaboration among researchers in neuro-cognitive sciences as well as AI and robotics., Comment: 62 pages, 9 figures, submitted to Neural Networks

This paper proposes a hierarchical Bayesian model based on spatial concepts that enables a robot to transfer the knowledge of places from experienced environments to a new environment. The transfer of knowledge based on spatial concepts is modeled as the calculation process of the posterior distribution based on the observations obtained in each environment with the parameters of spatial concepts generalized to environments as prior knowledge. We conducted experiments to evaluate the generalization performance of spatial knowledge for general places such as kitchens and the adaptive performance of spatial knowledge for unique places such as `Emma's room' in a new environment. In the experiments, the accuracies of the proposed method and conventional methods were compared in the prediction task of location names from an image and a position, and the prediction task of positions from a location name. The experimental results demonstrated that the proposed method has a higher prediction accuracy of location names and positions than the conventional method owing to the transfer of knowledge., Comment: 17 pages, 12 figures, 6 tables

Annual recruitment data of new graduates are manually analyzed by human resources specialists (HR) in industries, which signifies the need to evaluate the recruitment strategy of HR specialists. Every year, different applicants send in job applications to companies. The relationships between applicants' attributes (e.g., English skill or academic credential) can be used to analyze the changes in recruitment trends across multiple years' data. However, most attributes are unnormalized and thus require thorough preprocessing. Such unnormalized data hinder the effective comparison of the relationship between applicants in the early stage of data analysis. Thus, a visual exploration system is highly needed to gain insight from the overview of the relationship between applicants across multiple years. In this study, we propose the Polarizing Attributes for Network Analysis of Correlation on Entities Association (Panacea) visualization system. The proposed system integrates a time-varying graph model and dynamic graph visualization for heterogeneous tabular data. Using this system, human resource specialists can interactively inspect the relationships between two attributes of prospective employees across multiple years. Further, we demonstrate the usability of Panacea with representative examples for finding hidden trends in real-world datasets and then describe HR specialists' feedback obtained throughout Panacea's development. The proposed Panacea system enables HR specialists to visually explore the annual recruitment of new graduates.

In the present paper, we propose a decoder-free extension of Dreamer, a leading model-based reinforcement learning (MBRL) method from pixels. Dreamer is a sample- and cost-efficient solution to robot learning, as it is used to train latent state-space models based on a variational autoencoder and to conduct policy optimization by latent trajectory imagination. However, this autoencoding based approach often causes object vanishing, in which the autoencoder fails to perceives key objects for solving control tasks, and thus significantly limiting Dreamer's potential. This work aims to relieve this Dreamer's bottleneck and enhance its performance by means of removing the decoder. For this purpose, we firstly derive a likelihood-free and InfoMax objective of contrastive learning from the evidence lower bound of Dreamer. Secondly, we incorporate two components, (i) independent linear dynamics and (ii) the random crop data augmentation, to the learning scheme so as to improve the training performance. In comparison to Dreamer and other recent model-free reinforcement learning methods, our newly devised Dreamer with InfoMax and without generative decoder (Dreaming) achieves the best scores on 5 difficult simulated robotics tasks, in which Dreamer suffers from object vanishing., Comment: Accepted to ICRA2021. Camera ready version

Whitelisting is considered an effective security monitoring method for networks used in industrial control systems, where the whitelists consist of observed tuples of the IP address of the server, the TCP/UDP port number, and IP address of the client (communication triplets). However, this method causes frequent false detections. To reduce false positives due to a simple whitelist-based judgment, we propose a new framework for scoring communications to judge whether the communications not present in whitelists are normal or anomalous. To solve this problem, we developed a graph convolutional network-based suspicious communication pair estimation using relational graph convolution networks, and evaluated its performance. For this, we collected the network traffic of three factories owned by Panasonic Corporation, Japan. The proposed method achieved a receiver operating characteristic area under the curve of 0.957, which outperforms baseline approaches such as DistMult, a method that directly optimizes the node embeddings, and heuristics, which score the triplets using first- and second-order proximities of multigraphs. This method enables security operators to concentrate on significant alerts., Comment: 9 pages, 3 figures

In the present paper, we propose an extension of the Deep Planning Network (PlaNet), also referred to as PlaNet of the Bayesians (PlaNet-Bayes). There has been a growing demand in model predictive control (MPC) in partially observable environments in which complete information is unavailable because of, for example, lack of expensive sensors. PlaNet is a promising solution to realize such latent MPC, as it is used to train state-space models via model-based reinforcement learning (MBRL) and to conduct planning in the latent space. However, recent state-of-the-art strategies mentioned in MBRR literature, such as involving uncertainty into training and planning, have not been considered, significantly suppressing the training performance. The proposed extension is to make PlaNet uncertainty-aware on the basis of Bayesian inference, in which both model and action uncertainty are incorporated. Uncertainty in latent models is represented using a neural network ensemble to approximately infer model posteriors. The ensemble of optimal action candidates is also employed to capture multimodal uncertainty in the optimality. The concept of the action ensemble relies on a general variational inference MPC (VI-MPC) framework and its instance, probabilistic action ensemble with trajectory sampling (PaETS). In this paper, we extend VI-MPC and PaETS, which have been originally introduced in previous literature, to address partially observable cases. We experimentally compare the performances on continuous control tasks, and conclude that our method can consistently improve the asymptotic performance compared with PlaNet.

Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial experience including vision, speech-language, and self-position. The aim of this study is to enable a mobile robot to perform navigational tasks with human speech instructions, such as `Go to the kitchen', via probabilistic inference on a Bayesian generative model using spatial concepts. Specifically, path planning was formalized as the maximization of probabilistic distribution on the path-trajectory under speech instruction, based on a control-as-inference framework. Furthermore, we described the relationship between probabilistic inference based on the Bayesian generative model and control problem including reinforcement learning. We demonstrated path planning based on human instruction using acquired spatial concepts to verify the usefulness of the proposed approach in the simulator and in real environments. Experimentally, places instructed by the user's speech commands showed high probability values, and the trajectory toward the target place was correctly estimated. Our approach, based on probabilistic inference concerning decision-making, can lead to further improvement in robot autonomy., Comment: Accepted to Advanced Robotics

Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various home objects but also to plan the order and positions for placing the objects. In this paper, we propose a novel planning method that can efficiently estimate the order and positions of the objects to be tidied up by learning the parameters of a probabilistic generative model. The model allows a robot to learn the distributions of the co-occurrence probability of the objects and places to tidy up using the multimodal sensor information collected in a tidied environment. Additionally, we develop an autonomous robotic system to perform the tidy-up operation. We evaluate the effectiveness of the proposed method by an experimental simulation that reproduces the conditions of the Tidy Up Here task of the World Robot Summit 2018 international robotics competition. The simulation results show that the proposed method enables the robot to successively tidy up several objects and achieves the best task score among the considered baseline tidy-up methods., Comment: This paper has been accepted to Advanced Robotics

State representation learning (SRL) in partially observable Markov decision processes has been studied to learn abstract features of data useful for robot control tasks. For SRL, acquiring domain-agnostic states is essential for achieving efficient imitation learning. Without these states, imitation learning is hampered by domain-dependent information useless for control. However, existing methods fail to remove such disturbances from the states when the data from experts and agents show large domain shifts. To overcome this issue, we propose a domain-adversarial and conditional state space model (DAC-SSM) that enables control systems to obtain domain-agnostic and task- and dynamics-aware states. DAC-SSM jointly optimizes the state inference, observation reconstruction, forward dynamics, and reward models. To remove domain-dependent information from the states, the model is trained with domain discriminators in an adversarial manner, and the reconstruction is conditioned on domain labels. We experimentally evaluated the model predictive control performance via imitation learning for continuous control of sparse reward tasks in simulators and compared it with the performance of the existing SRL method. The agents from DAC-SSM achieved performance comparable to experts and more than twice the baselines. We conclude domain-agnostic states are essential for imitation learning that has large domain shifts and can be obtained using DAC-SSM., Comment: Published at IROS 2020

This paper describes a framework for the development of an integrative cognitive system based on probabilistic generative models (PGMs) called Neuro-SERKET. Neuro-SERKET is an extension of SERKET, which can compose elemental PGMs developed in a distributed manner and provide a scheme that allows the composed PGMs to learn throughout the system in an unsupervised way. In addition to the head-to-tail connection supported by SERKET, Neuro-SERKET supports tail-to-tail and head-to-head connections, as well as neural network-based modules, i.e., deep generative models. As an example of a Neuro-SERKET application, an integrative model was developed by composing a variational autoencoder (VAE), a Gaussian mixture model (GMM), latent Dirichlet allocation (LDA), and automatic speech recognition (ASR). The model is called VAE+GMM+LDA+ASR. The performance of VAE+GMM+LDA+ASR and the validity of Neuro-SERKET were demonstrated through a multimodal categorization task using image data and a speech signal of numerical digits., Comment: New Gener. Comput. (2020)

It is an effective strategy for the multi-person pose tracking task in videos to employ prediction and pose matching in a frame-by-frame manner. For this type of approach, uncertainty-aware modeling is essential because precise prediction is impossible. However, previous studies have relied on only a single prediction without incorporating uncertainty, which can cause critical tracking errors if the prediction is unreliable. This paper proposes an extension to this approach with Sequential Monte Carlo (SMC). This naturally reformulates the tracking scheme to handle multiple predictions (or hypotheses) of poses, thereby mitigating the negative effect of prediction errors. An important component of SMC, i.e., a proposal distribution, is designed as a probabilistic neural pose predictor, which can propose diverse and plausible hypotheses by incorporating epistemic uncertainty and heteroscedastic aleatoric uncertainty. In addition, a recurrent architecture is introduced to our neural modeling to utilize time-sequence information of poses to manage difficult situations, such as the frequent disappearance and reappearances of poses. Compared to existing baselines, the proposed method achieves a state-of-the-art MOTA score on the PoseTrack2018 validation dataset by reducing approximately 50% of tracking errors from a state-of-the art baseline method., Comment: Accepted to ICRA2020; Camera-ready ver

In recent studies on model-based reinforcement learning (MBRL), incorporating uncertainty in forward dynamics is a state-of-the-art strategy to enhance learning performance, making MBRLs competitive to cutting-edge model free methods, especially in simulated robotics tasks. Probabilistic ensembles with trajectory sampling (PETS) is a leading type of MBRL, which employs Bayesian inference to dynamics modeling and model predictive control (MPC) with stochastic optimization via the cross entropy method (CEM). In this paper, we propose a novel extension to the uncertainty-aware MBRL. Our main contributions are twofold: Firstly, we introduce a variational inference MPC, which reformulates various stochastic methods, including CEM, in a Bayesian fashion. Secondly, we propose a novel instance of the framework, called probabilistic action ensembles with trajectory sampling (PaETS). As a result, our Bayesian MBRL can involve multimodal uncertainties both in dynamics and optimal trajectories. In comparison to PETS, our method consistently improves asymptotic performance on several challenging locomotion tasks., Comment: Accepted to CoRL2019. Camera-ready ver

Integration of reinforcement learning and imitation learning is an important problem that has been studied for a long time in the field of intelligent robotics. Reinforcement learning optimizes policies to maximize the cumulative reward, whereas imitation learning attempts to extract general knowledge about the trajectories demonstrated by experts, i.e., demonstrators. Because each of them has their own drawbacks, methods combining them and compensating for each set of drawbacks have been explored thus far. However, many of the methods are heuristic and do not have a solid theoretical basis. In this paper, we present a new theory for integrating reinforcement and imitation learning by extending the probabilistic generative model framework for reinforcement learning, {\it plan by inference}. We develop a new probabilistic graphical model for reinforcement learning with multiple types of rewards and a probabilistic graphical model for Markov decision processes with multiple optimality emissions (pMDP-MO). Furthermore, we demonstrate that the integrated learning method of reinforcement learning and imitation learning can be formulated as a probabilistic inference of policies on pMDP-MO by considering the output of the discriminator in generative adversarial imitation learning as an additional optimal emission observation. We adapt the generative adversarial imitation learning and task-achievement reward to our proposed framework, achieving significantly better performance than agents trained with reinforcement learning or imitation learning alone. Experiments demonstrate that our framework successfully integrates imitation and reinforcement learning even when the number of demonstrators is only a few., Comment: Submitted to Advanced Robotics

This paper describes a new unsupervised machine learning method for simultaneous phoneme and word discovery from multiple speakers. Human infants can acquire knowledge of phonemes and words from interactions with his/her mother as well as with others surrounding him/her. From a computational perspective, phoneme and word discovery from multiple speakers is a more challenging problem than that from one speaker because the speech signals from different speakers exhibit different acoustic features. This paper proposes an unsupervised phoneme and word discovery method that simultaneously uses nonparametric Bayesian double articulation analyzer (NPB-DAA) and deep sparse autoencoder with parametric bias in hidden layer (DSAE-PBHL). We assume that an infant can recognize and distinguish speakers based on certain other features, e.g., visual face recognition. DSAE-PBHL is aimed to be able to subtract speaker-dependent acoustic features and extract speaker-independent features. An experiment demonstrated that DSAE-PBHL can subtract distributed representations of acoustic signals, enabling extraction based on the types of phonemes rather than on the speakers. Another experiment demonstrated that a combination of NPB-DAA and DSAE-PB outperformed the available methods in phoneme and word discovery tasks involving speech signals with Japanese vowel sequences from multiple speakers., Comment: 21 pages. Submitted