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Unmanned aerial vehicles (UAVs) have been extensively deployed across a range of applications thank to their flexibility and low cost. While this expansion has significantly improved their operational efficiency and service capacity, it has also posed challenges for UAV supervision and management systems. To address these issues, this paper proposes a three-dimensional (3D) localization method that integrates time difference of arrival (TDOA) and angle of arrival (AOA) measurements based on the extended Kalman filter (EKF). Specifically, for AOA-based positioning, a uniform circular array (UCA) is employed to capture spatial signal characteristics, and the multiple-signal classification (MUSIC) algorithm is applied to precisely estimate the azimuth and elevation angles of incoming signals. In TDOA-based localization, a multipath signal separation and identification algorithm is implemented to enhance robustness against multipath propagation in complex environments. Subsequently, the TDOA and AOA measurements are fused using the EKF, where nonlinear measurement models are linearized via Jacobian matrices to improve computational efficiency and estimation accuracy. Finally, simulation results demonstrate that the proposed hybrid localization method outperforms existing positioning methods that rely solely on AOA or TDOA, achieving a positioning accuracy of approximately 5 m and an angular error within 3°, which is suitable for applications in multipath environments such as urban areas.

We introduce region-customizable sound extraction (ReZero), a general and flexible framework for the multi-channel region-wise sound extraction (R-SE) task. R-SE task aims at extracting all active target sounds (e.g., human speech) within a specific, user-defined spatial region, which is different from conventional and existing tasks where a blind separation or a fixed, predefined spatial region are typically assumed. The spatial region can be defined as an angular window, a sphere, a cone, or other geometric patterns. Being a solution to the R-SE task, the proposed ReZero framework includes (1) definitions of different types of spatial regions, (2) methods for region feature extraction and aggregation, and (3) a multi-channel extension of the band-split RNN (BSRNN) model specified for the R-SE task. We design experiments for different microphone array geometries, different types of spatial regions, and comprehensive ablation studies on different system configurations. Experimental results on both simulated and real-recorded data demonstrate the effectiveness of ReZero. Demos are available at https://innerselfm.github.io/rezero/.

Modern neural-network-based speech processing systems are typically required to be robust against reverberation, and the training of such systems thus needs a large amount of reverberant data. During the training of the systems, on-the-fly simulation pipeline is nowadays preferred as it allows the model to train on infinite number of data samples without pre-generating and saving them on harddisk. An RIR simulation method thus needs to not only generate more realistic artificial room impulse response (RIR) filters, but also generate them in a fast way to accelerate the training process. Existing RIR simulation tools have proven effective in a wide range of speech processing tasks and neural network architectures, but their usage in on-the-fly simulation pipeline remains questionable due to their computational complexity or the quality of the generated RIR filters. In this paper, we propose FRAM-RIR, a fast random approximation method of the widely-used image-source method (ISM), to efficiently generate realistic multi-channel RIR filters. FRAM-RIR bypasses the explicit calculation of sound propagation paths in ISM-based algorithms by randomly sampling the location and number of reflections of each virtual sound source based on several heuristic assumptions, while still maintains accurate direction-of-arrival (DOA) information of all sound sources. Visualization of oracle beampatterns and directional features shows that FRAM-RIR can generate more realistic RIR filters than existing widely-used ISM-based tools, and experiment results on multi-channel noisy speech separation and dereverberation tasks with a wide range of neural network architectures show that models trained with FRAM-RIR can also achieve on par or better performance on real RIRs compared to other RIR simulation tools with a significantly accelerated training procedure. A Python implementation of FRAM-RIR is released.

Hand-crafted spatial features, such as inter-channel intensity difference (IID) and inter-channel phase difference (IPD), play a fundamental role in recent deep learning based dual-microphone speech enhancement (DMSE) systems. However, learning the mutual relationship between artificially designed spatial and spectral features is hard in the end-to-end DMSE. In this work, a novel architecture for DMSE using a multi-head cross-attention based convolutional recurrent network (MHCA-CRN) is presented. The proposed MHCA-CRN model includes a channel-wise encoding structure for preserving intra-channel features and a multi-head cross-attention mechanism for fully exploiting cross-channel features. In addition, the proposed approach specifically formulates the decoder with an extra SNR estimator to estimate frame-level SNR under a multi-task learning framework, which is expected to avoid speech distortion led by end-to-end DMSE module. Finally, a spectral gain function is adopted to further suppress the unnatural residual noise. Experiment results demonstrated superior performance of the proposed model against several state-of-the-art models.

Echo cancellation and noise reduction are essential for full-duplex communication, yet most existing neural networks have high computational costs and are inflexible in tuning model complexity. In this paper, we introduce time-frequency dual-path compression to achieve a wide range of compression ratios on computational cost. Specifically, for frequency compression, trainable filters are used to replace manually designed filters for dimension reduction. For time compression, only using frame skipped prediction causes large performance degradation, which can be alleviated by a post-processing network with full sequence modeling. We have found that under fixed compression ratios, dual-path compression combining both the time and frequency methods will give further performance improvement, covering compression ratios from 4x to 32x with little model size change. Moreover, the proposed models show competitive performance compared with fast FullSubNet and DeepFilterNet.

Target speech separation refers to extracting the target speaker's speech from mixed signals. Despite the recent advances in deep learning based close-talk speech separation, the applications to real-world are still an open issue. Two main challenges are the complex acoustic environment and the real-time processing requirement. To address these challenges, we propose a temporal-spatial neural filter, which directly estimates the target speech waveform from multi-speaker mixture in reverberant environments, assisted with directional information of the speaker(s). Firstly, against variations brought by complex environment, the key idea is to increase the acoustic representation completeness through the jointly modeling of temporal, spectral and spatial discriminability between the target and interference source. Specifically, temporal, spectral, spatial along with the designed directional features are integrated to create a joint acoustic representation. Secondly, to reduce the latency, we design a fully-convolutional autoencoder framework, which is purely end-to-end and single-pass. All the feature computation is implemented by the network layers and operations to speed up the separation procedure. Evaluation is conducted on simulated reverberant dataset WSJ0-2mix and WSJ0-3mix under speaker-independent scenario. Experimental results demonstrate that the proposed method outperforms state-of-the-art deep learning based multi-channel approaches with fewer parameters and faster processing speed. Furthermore, the proposed temporal-spatial neural filter can handle mixtures with varying and unknown number of speakers and exhibits persistent performance even when existing a direction estimation error. Codes and models will be released soon.

Multi-channel speech separation using speaker's directional information has demonstrated significant gains over blind speech separation. However, it has two limitations. First, substantial performance degradation is observed when the coming directions of two sounds are close. Second, the result highly relies on the precise estimation of the speaker's direction. To overcome these issues, this paper proposes 3D features and an associated 3D neural beamformer for multi-channel speech separation. Previous works in this area are extended in two important directions. First, the traditional 1D directional beam patterns are generalized to 3D. This enables the model to extract speech from any target region in the 3D space. Thus, speakers with similar directions but different elevations or distances become separable. Second, to handle the speaker location uncertainty, previously proposed spatial feature is extended to a new 3D region feature. The proposed 3D region feature and 3D neural beamformer are evaluated under an in-car scenario. Experimental results demonstrated that the combination of 3D feature and 3D beamformer can achieve comparable performance to the separation model with ground truth speaker location as input.

We introduce Gull, a generative multifunctional audio codec. Gull is a general purpose neural audio compression and decompression model which can be applied to a wide range of tasks and applications such as real-time communication, audio super-resolution, and codec language models. The key components of Gull include (1) universal-sample-rate modeling via subband modeling schemes motivated by recent progress in audio source separation, (2) gain-shape representations motivated by traditional audio codecs, (3) improved residual vector quantization modules, (4) elastic decoder network that enables user-defined model size and complexity during inference time, (5) built-in ability for audio super-resolution without the increase of bitrate. We compare Gull with existing traditional and neural audio codecs and show that Gull is able to achieve on par or better performance across various sample rates, bitrates and model complexities in both subjective and objective evaluation metrics.

Music codecs are a vital aspect of audio codec research, and ultra low-bitrate compression holds significant importance for music transmission and generation. Due to the complexity of music backgrounds and the richness of vocals, solely relying on modeling semantic or acoustic information cannot effectively reconstruct music with both vocals and backgrounds. To address this issue, we propose MuCodec, specifically targeting music compression and reconstruction tasks at ultra low bitrates. MuCodec employs MuEncoder to extract both acoustic and semantic features, discretizes them with RVQ, and obtains Mel-VAE features via flow-matching. The music is then reconstructed using a pre-trained MEL-VAE decoder and HiFi-GAN. MuCodec can reconstruct high-fidelity music at ultra low (0.35kbps) or high bitrates (1.35kbps), achieving the best results to date in both subjective and objective metrics. Code and Demo: https://xuyaoxun.github.io/MuCodec_demo/.

As deep learning advances in audio generation, challenges in audio security and copyright protection highlight the need for robust audio watermarking. Recent neural network-based methods have made progress but still face three main issues: preventing unauthorized access, decoding initial watermarks after multiple embeddings, and embedding varying lengths of watermarks. To address these issues, we propose WAKE, the first key-controllable audio watermark framework. WAKE embeds watermarks using specific keys and recovers them with corresponding keys, enhancing security by making incorrect key decoding impossible. It also resolves the overwriting issue by allowing watermark decoding after multiple embeddings and supports variable-length watermark insertion. WAKE outperforms existing models in both watermarked audio quality and watermark detection accuracy. Code, more results, and demo page: https://thuhcsi.github.io/WAKE.