Turn-taking is a crucial aspect of human-robot interaction, directly influencing conversational fluidity and user engagement. While previous research has explored turn-taking models in controlled environments, their robustness in real-world settings remains underexplored. In this study, we propose a noise-robust voice activity projection (VAP) model, based on a Transformer architecture, to enhance real-time turn-taking in dialogue robots. To evaluate the effectiveness of the proposed system, we conducted a field experiment in a shopping mall, comparing the VAP system with a conventional cloud-based speech recognition system. Our analysis covered both subjective user evaluations and objective behavioral analysis. The results showed that the proposed system significantly reduced response latency, leading to a more natural conversation where both the robot and users responded faster. The subjective evaluations suggested that faster responses contribute to a better interaction experience.

Turn-taking is a fundamental aspect of conversation, but current Human-Robot Interaction (HRI) systems often rely on simplistic, silence-based models, leading to unnatural pauses and interruptions. This paper investigates, for the first time, the application of general turn-taking models, specifically TurnGPT and Voice Activity Projection (VAP), to improve conversational dynamics in HRI. These models are trained on human-human dialogue data using self-supervised learning objectives, without requiring domain-specific fine-tuning. We propose methods for using these models in tandem to predict when a robot should begin preparing responses, take turns, and handle potential interruptions. We evaluated the proposed system in a within-subject study against a traditional baseline system, using the Furhat robot with 39 adults in a conversational setting, in combination with a large language model for autonomous response generation. The results show that participants significantly prefer the proposed system, and it significantly reduces response delays and interruptions.

In human conversations, short backchannel utterances such as "yeah" and "oh" play a crucial role in facilitating smooth and engaging dialogue. These backchannels signal attentiveness and understanding without interrupting the speaker, making their accurate prediction essential for creating more natural conversational agents. This paper proposes a novel method for real-time, continuous backchannel prediction using a fine-tuned Voice Activity Projection (VAP) model. While existing approaches have relied on turn-based or artificially balanced datasets, our approach predicts both the timing and type of backchannels in a continuous and frame-wise manner on unbalanced, real-world datasets. We first pre-train the VAP model on a general dialogue corpus to capture conversational dynamics and then fine-tune it on a specialized dataset focused on backchannel behavior. Experimental results demonstrate that our model outperforms baseline methods in both timing and type prediction tasks, achieving robust performance in real-time environments. This research offers a promising step toward more responsive and human-like dialogue systems, with implications for interactive spoken dialogue applications such as virtual assistants and robots.

This paper investigates the application of voice activity projection (VAP), a predictive turn-taking model for spoken dialogue, on multilingual data, encompassing English, Mandarin, and Japanese. The VAP model continuously predicts the upcoming voice activities of participants in dyadic dialogue, leveraging a cross-attention Transformer to capture the dynamic interplay between participants. The results show that a monolingual VAP model trained on one language does not make good predictions when applied to other languages. However, a multilingual model, trained on all three languages, demonstrates predictive performance on par with monolingual models across all languages. Further analyses show that the multilingual model has learned to discern the language of the input signal. We also analyze the sensitivity to pitch, a prosodic cue that is thought to be important for turn-taking. Finally, we compare two different audio encoders, contrastive predictive coding (CPC) pre-trained on English, with a recent model based on multilingual wav2vec 2.0 (MMS).

A demonstration of a real-time and continuous turn-taking prediction system is presented. The system is based on a voice activity projection (VAP) model, which directly maps dialogue stereo audio to future voice activities. The VAP model includes contrastive predictive coding (CPC) and self-attention transformers, followed by a cross-attention transformer. We examine the effect of the input context audio length and demonstrate that the proposed system can operate in real-time with CPU settings, with minimal performance degradation.

As more and more infection-specific machine learning models are developed and planned for clinical deployment, simultaneously running predictions from different models may provide overlapping or even conflicting information. It is important to understand the concordance and behavior of parallel models in deployment. In this study, we focus on two models for the early detection of hospital-acquired infections (HAIs): 1) the Infection Risk Index (IRI) and 2) the Ventilator-Associated Pneumonia (VAP) prediction model. The IRI model was built to predict all HAIs, whereas the VAP model identifies patients at risk of developing ventilator-associated pneumonia. These models could make important improvements in patient outcomes and hospital management of infections through early detection of infections and in turn, enable early interventions. The two models vary in terms of infection label definition, cohort selection, and prediction schema. In this work, we present a comparative analysis between the two models to characterize concordances and confusions in predicting HAIs by these models. The learnings from this study will provide important findings for how to deploy multiple concurrent disease-specific models in the future.

Filled pauses (or fillers), such as "uh" and "um", are frequent in spontaneous speech and can serve as a turn-holding cue for the listener, indicating that the current speaker is not done yet. In this paper, we use the recently proposed Voice Activity Projection (VAP) model, which is a deep learning model trained to predict the dynamics of conversation, to analyse the effects of filled pauses on the expected turn-hold probability. The results show that, while filled pauses do indeed have a turn-holding effect, it is perhaps not as strong as could be expected, probably due to the redundancy of other cues. We also find that the prosodic properties and position of the filler has a significant effect on the turn-hold probability. However, contrary to what has been suggested in previous work, there is no difference between "uh" and "um" in this regard.