Deep Neural Object Analysis by Interactive Auditory Exploration with a Humanoid Robot

C. Robustness to external noise The sound samples used in all experiments are already recorded under real-world conditions in an office environment. We took care that people in the office are not talking, but background noise like typing on a keyboard and people walking around are clearly identifiable on the sample data. In addition, there is a significant amount of ego noise coming from the robot's servos. Hence, the results depicted in the previous Sections VA and V-B already involve a realistic amount of noise. However, in order to make more precise statements about robustness to noise, we also perform experiments where we simulate an environment with other external sound sources at varying levels. Therefore, we use six randomly selected samples from different background noises including traffic, people speaking, airport, etc.