Hiroshi G. Okuno

393 papers A* 28A 95B 25C 25Misc 19Journal 98Unranked 99

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Legal frameworks for AI service business participants: a comparative analysis of liability protection across jurisdictions. AI Soc. Mayumi J. Okuno, Hiroshi G. Okuno
2025	—	`conf`	Locating Survivors' Voices in Disaster Sites Using Quadcopters Based on Modeling Complicated Environments by PyRoomAcoustics and SSL by MUSIC-based Algorithms. SII Masachika Kamada, Junji Yamato, Yasuhiro Oikawa, Hiroshi G. Okuno, Jun Ohya
2023	—	`conf`	Extracting Bird Vocalizations from a Complex Natural Soundscape in Forests Using Robot Audition Techniques. SII Reiji Suzuki, Shinji Sumitani, Zachary Harlow, Shiho Matsubayashi, Takaya Arita, Kazuhiro Nakadai, Hiroshi G. Okuno
2022	J	`jnl`	Auditory Survey of Endangered Eurasian Bittern Using Microphone Arrays and Robot Audition. Frontiers Robotics AI Shiho Matsubayashi, Kazuhiro Nakadai, Reiji Suzuki, Tatsuya Ura, Makoto Hasebe, Hiroshi G. Okuno
2021	A	`conf`	Alternating Drive-and-Glide Flight Navigation of a Kiteplane for Sound Source Position Estimation. IROS Makoto Kumon, Hiroshi G. Okuno, Shuichi Tajima
2021	—	`conf`	Observing Nocturnal Birds Using Localization Techniques. SII Shiho Matsubayashi, Fumiyuki Saito, Reiji Suzuki, Kazuhiro Nakadai, Hiroshi G. Okuno
2021	—	`conf`	Visualizing Directional Soundscapes of Bird Vocalizations Using Robot Audition Techniques. SII Reiji Suzuki, Hao Zhao, Shinji Sumitani, Shiho Matsubayashi, Takaya Arita, Kazuhiro Nakadai, Hiroshi G. Okuno
2020	A	`conf`	Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches. IROS Takuto Takahashi, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski
2020	—	`conf`	Design and Implementation of Real-Time Visualization of Sound Source Positions by Drone Audition. SII Mizuho Wakabayashi, Kai Washizaki, Kotaro Hoshiba, Kazuhiro Nakadai, Hiroshi G. Okuno, Makoto Kumon
2020	J	`jnl`	Drone audition listening from the sky estimates multiple sound source positions by integrating sound source localization and data association. Adv. Robotics Mizuho Wakabayashi, Hiroshi G. Okuno, Makoto Kumon
2020	J	`jnl`	Multi-hop wireless command and telemetry communication system for remote operation of robots with extending operation area beyond line-of-sight using 920 MHz/169 MHz. Adv. Robotics Toshinori Kagawa, Fumie Ono, Lin Shan, Ryu Miura, Kazuhiro Nakadai, Kotaro Hoshiba, Makoto Kumon, Hiroshi G. Okuno, Shin Kato, Fumihide Kojima
2020	J	`jnl`	Multiple Sound Source Position Estimation by Drone Audition Based on Data Association Between Sound Source Localization and Identification. IEEE Robotics Autom. Lett. Mizuho Wakabayashi, Hiroshi G. Okuno, Makoto Kumon
2020	J	`jnl`	Robot Audition and Computational Auditory Scene Analysis. Adv. Intell. Syst. Kazuhiro Nakadai, Hiroshi G. Okuno
2020	—	`conf`	Soundscape Analysis of Bird Songs in Forests Using Microphone Arrays. SII Shinji Sumitani, Reiji Suzuki, Takemi Morimatsu, Shiho Matsubayashi, Takaya Arita, Kazuhiro Nakadai, Hiroshi G. Okuno
2019	J	`jnl`	Computational Design of Statically Balanced Planar Spring Mechanisms. IEEE Robotics Autom. Lett. Takuto Takahashi, Jonas Zehnder, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski
2019	—	`ch.`	Development of Tough Snake Robot Systems. Disaster Robotics Fumitoshi Matsuno, Tetsushi Kamegawa, Wei Qi, Tatsuya Takemori, Motoyasu Tanaka, Mizuki Nakajima, Kenjiro Tadakuma, Masahiro Fujita, Yosuke Suzuki, Katsutoshi Itoyama, Hiroshi G. Okuno, Yoshiaki Bando, Tomofumi Fujiwara, Satoshi Tadokoro
2019	—	`ch.`	ImPACT-TRC Thin Serpentine Robot Platform for Urban Search and Rescue. Disaster Robotics Masashi Konyo, Yuichi Ambe, Hikaru Nagano, Yu Yamauchi, Satoshi Tadokoro, Yoshiaki Bando, Katsutoshi Itoyama, Hiroshi G. Okuno, Takayuki Okatani, Kanta Shimizu, Eisuke Ito
2019	—	`ch.`	Recent R&D Technologies and Future Prospective of Flying Robot in Tough Robotics Challenge. Disaster Robotics Kenzo Nonami, Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Yasutada Tanabe, Koichi Yonezawa, Hiroshi Tokutake, Satoshi Suzuki, Kohei Yamaguchi, Shigeru Sunada, Takeshi Takaki, Toshiyuki Nakata, Ryusuke Noda, Hao Liu, Satoshi Tadokoro
2018	J	`jnl`	Assessment of MUSIC-Based Noise-Robust Sound Source Localization with Active Frequency Range Filtering. J. Robotics Mechatronics Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno
2018	A	`conf`	Design and Implementation of Programmable Drawing Automata based on Cam Mechanisms for Representing Spatial Trajectory. IROS Takuto Takahashi, Hiroshi G. Okuno
2018	A	`conf`	Extracting the Relationship between the Spatial Distribution and Types of Bird Vocalizations Using Robot Audition System HARK. IROS Shinji Sumitani, Reiji Suzuki, Shiho Matsubayashi, Takaya Arita, Kazuhiro Nakadai, Hiroshi G. Okuno
2018	J	`jnl`	Speech Enhancement Based on Bayesian Low-Rank and Sparse Decomposition of Multichannel Magnitude Spectrograms. IEEE ACM Trans. Audio Speech Lang. Process. Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Tatsuya Kawahara, Hiroshi G. Okuno
2017	J	`jnl`	Acoustic Monitoring of the Great Reed Warbler Using Multiple Microphone Arrays and Robot Audition. J. Robotics Mechatronics Shiho Matsubayashi, Reiji Suzuki, Fumiyuki Saito, Tatsuyoshi Murate, Tomohisa Masuda, Koichi Yamamoto, Ryosuke Kojima, Kazuhiro Nakadai, Hiroshi G. Okuno
2017	J	`jnl`	Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments. Sensors Kotaro Hoshiba, Kai Washizaki, Mizuho Wakabayashi, Takahiro Ishiki, Makoto Kumon, Yoshiaki Bando, Daniel Gabriel, Kazuhiro Nakadai, Hiroshi G. Okuno
2017	J	`jnl`	Development of a Robotic Pet Using Sound Source Localization with the HARK Robot Audition System. J. Robotics Mechatronics Ryo Suzuki, Takuto Takahashi, Hiroshi G. Okuno
2017	A	`conf`	Development of microphone-array-embedded UAV for search and rescue task. IROS Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Kotaro Hoshiba, Mizuho Wakabayashi, Kai Washizaki, Takahiro Ishiki, Daniel Gabriel, Yoshiaki Bando, Takayuki Morito, Ryosuke Kojima, Osamu Sugiyama
2017	J	`jnl`	Development, Deployment and Applications of Robot Audition Open Source Software HARK. J. Robotics Mechatronics Kazuhiro Nakadai, Hiroshi G. Okuno, Takeshi Mizumoto
2017	J	`jnl`	Editorial: Robot Audition Technologies. J. Robotics Mechatronics Hiroshi G. Okuno, Kazuhiro Nakadai
2017	J	`jnl`	HARKBird: Exploring Acoustic Interactions in Bird Communities Using a Microphone Array. J. Robotics Mechatronics Reiji Suzuki, Shiho Matsubayashi, Richard W. Hedley, Kazuhiro Nakadai, Hiroshi G. Okuno
2017	J	`jnl`	Influence of Different Impulse Response Measurement Signals on MUSIC-Based Sound Source Localization. J. Robotics Mechatronics Takuya Suzuki, Hiroaki Otsuka, Wataru Akahori, Yoshiaki Bando, Hiroshi G. Okuno
2017	J	`jnl`	Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot. J. Robotics Mechatronics Yoshiaki Bando, Hiroshi Saruwatari, Nobutaka Ono, Shoji Makino, Katsutoshi Itoyama, Daichi Kitamura, Masaru Ishimura, Moe Takakusaki, Narumi Mae, Kouei Yamaoka, Yutaro Matsui, Yuichi Ambe, Masashi Konyo, Satoshi Tadokoro, Kazuyoshi Yoshii, Hiroshi G. Okuno
2017	J	`jnl`	Size Effect on Call Properties of Japanese Tree Frogs Revealed by Audio-Processing Technique. J. Robotics Mechatronics Ikkyu Aihara, Ryu Takeda, Takeshi Mizumoto, Takuma Otsuka, Hiroshi G. Okuno
2017	J	`jnl`	Swarm of Sound-to-Light Conversion Devices to Monitor Acoustic Communication Among Small Nocturnal Animals. J. Robotics Mechatronics Takeshi Mizumoto, Ikkyu Aihara, Takuma Otsuka, Hiromitsu Awano, Hiroshi G. Okuno
2016	A	`conf`	Call Alternation Between Specific Pairs of Male Frogs Revealed by a Sound-Imaging Method in Their Natural Habitat. INTERSPEECH Ikkyu Aihara, Takeshi Mizumoto, Hiromitsu Awano, Hiroshi G. Okuno
2016	A	`conf`	Localizing Bird Songs Using an Open Source Robot Audition System with a Microphone Array. INTERSPEECH Reiji Suzuki, Shiho Matsubayashi, Kazuhiro Nakadai, Hiroshi G. Okuno
2016	B	`conf`	Parallel Speech Corpora of Japanese Dialects. LREC Koichiro Yoshino, Naoki Hirayama, Shinsuke Mori, Fumihiko Takahashi, Katsutoshi Itoyama, Hiroshi G. Okuno
2016	J	`jnl`	Robust Recognition of Simultaneous Speech By a Mobile Robot. CoRR Jean-Marc Valin, Shun'ichi Yamamoto, Jean Rouat, François Michaud, Kazuhiro Nakadai, Hiroshi G. Okuno
2016	—	`conf`	Sound-based online localization for an in-pipe snake robot. SSRR Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno
2016	—	`conf`	Variational Bayesian multi-channel robust NMF for human-voice enhancement with a deformable and partially-occluded microphone array. EUSIPCO Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno
2015	J	`jnl`	A Recipe for Empathy - Integrating the Mirror System, Insula, Somatosensory Cortex and Motherese. Int. J. Soc. Robotics Angelica Lim, Hiroshi G. Okuno
2015	J	`jnl`	Audio-visual speech recognition using deep learning. Appl. Intell. Kuniaki Noda, Yuki Yamaguchi, Kazuhiro Nakadai, Hiroshi G. Okuno, Tetsuya Ogata
2015	J	`jnl`	Automatic Speech Recognition for Mixed Dialect Utterances by Mixing Dialect Language Models. IEEE ACM Trans. Audio Speech Lang. Process. Naoki Hirayama, Koichiro Yoshino, Katsutoshi Itoyama, Shinsuke Mori, Hiroshi G. Okuno
2015	J	`jnl`	Bayesian Audio-to-Score Alignment Based on Joint Inference of Timbre, Volume, Tempo, and Note Onset Timings. Comput. Music. J. Akira Maezawa, Hiroshi G. Okuno
2015	J	`jnl`	Beat Tracking for Interactive Dancing Robots. Int. J. Humanoid Robotics João Lobato Oliveira, Gökhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Fabien Gouyon, Luís Paulo Reis
2015	Misc	`conf`	Challenges in deploying a microphone array to localize and separate sound sources in real auditory scenes. ICASSP Yoshiaki Bando, Takuma Otsuka, Katsutoshi Itoyama, Kazuyoshi Yoshii, Yoko Sasaki, Satoshi Kagami, Hiroshi G. Okuno
2015	J	`jnl`	HMM-based Attacks on Google's ReCAPTCHA with Continuous Visual and Audio Symbols. J. Inf. Process. Shotaro Sano, Takuma Otsuka, Katsutoshi Itoyama, Hiroshi G. Okuno
2015	—	`conf`	Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array. SSRR Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno
2015	J	`jnl`	Improved sound source localization in horizontal plane for binaural robot audition. Appl. Intell. Ui-Hyun Kim, Kazuhiro Nakadai, Hiroshi G. Okuno
2015	A	`conf`	Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot. IROS Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno
2015	J	`jnl`	Posture estimation of hose-shaped robot by using active microphone array. Adv. Robotics Yoshiaki Bando, Takuma Otsuka, Takeshi Mizumoto, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Hiroshi G. Okuno
2015	J	`jnl`	Preferential training of neurodynamical model based on predictability of target dynamics. Adv. Robotics Shun Nishide, Harumitsu Nobuta, Hiroshi G. Okuno, Tetsuya Ogata
2015	Misc	`conf`	Robot audition: Its rise and perspectives. ICASSP Hiroshi G. Okuno, Kazuhiro Nakadai
2015	J	`jnl`	Toward a quizmaster robot for speech-based multiparty interaction. Adv. Robotics Izaya Nishimuta, Katsutoshi Itoyama, Kazuyoshi Yoshii, Hiroshi G. Okuno
2015	—	`conf`	Unified inter- and intra-recording duration model for multiple music audio alignment. WASPAA Akira Maezawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Hiroshi G. Okuno
2014	—	`conf`	A robot quizmaster that can localize, separate, and recognize simultaneous utterances for a fastest-voice-first quiz game. Humanoids Izaya Nishimuta, Naoki Hirayama, Kazuyoshi Yoshii, Katsutoshi Itoyama, Hiroshi G. Okuno
2014	—	`conf`	A sound-based online method for estimating the time-varying posture of a hose-shaped robot. SSRR Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno
2014	—	`conf`	Applying intrinsic motivation for visuomotor learning of robot arm motion. URAI Shun Nishide, Harumitsu Nobuta, Hiroshi G. Okuno, Tetsuya Ogata
2014	Misc	`conf`	Audio part mixture alignment based on hierarchical nonparametric Bayesian model of musical audio sequence collection. ICASSP Akira Maezawa, Hiroshi G. Okuno
2014	Misc	`conf`	Automatic transcription of guitar tablature from audio signals in accordance with player's proficiency. ICASSP Kazuki Yazawa, Katsutoshi Itoyama, Hiroshi G. Okuno
2014	—	`conf`	Bayesian Audio Alignment based on a Unified Model of Music Composition and Performance. ISMIR Akira Maezawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Hiroshi G. Okuno
2014	J	`jnl`	Bayesian Nonparametrics for Microphone Array Processing. IEEE ACM Trans. Audio Speech Lang. Process. Takuma Otsuka, Katsuhiko Ishiguro, Hiroshi Sawada, Hiroshi G. Okuno
2014	A*	`conf`	Insertion of pause in drawing from babbling for robot's developmental imitation learning. ICRA Shun Nishide, Keita Mochizuki, Hiroshi G. Okuno, Tetsuya Ogata
2014	A	`conf`	Lipreading using convolutional neural network. INTERSPEECH Kuniaki Noda, Yuki Yamaguchi, Kazuhiro Nakadai, Hiroshi G. Okuno, Tetsuya Ogata
2014	A	`conf`	Making a robot dance to diverse musical genre in noisy environments. IROS João Lobato Oliveira, Keisuke Nakamura, Thibault Langlois, Fabien Gouyon, Kazuhiro Nakadai, Angelica Lim, Luís Paulo Reis, Hiroshi G. Okuno
2014	J	`jnl`	Multichannel sound source dereverberation and separation for arbitrary number of sources based on Bayesian nonparametrics. IEEE ACM Trans. Audio Speech Lang. Process. Takuma Otsuka, Katsuhiko Ishiguro, Takuya Yoshioka, Hiroshi Sawada, Hiroshi G. Okuno
2014	J	`jnl`	Nonparametric Bayesian dereverberation of power spectrograms based on infinite-order autoregressive processes. IEEE ACM Trans. Audio Speech Lang. Process. Akira Maezawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Hiroshi G. Okuno
2014	—	`conf`	Parameter Estimation of Virtual Musical Instrument Synthesizers. ICMC Katsutoshi Itoyama, Hiroshi G. Okuno
2014	B	`conf`	Sound annotation tool for multidirectional sounds based on spatial information extracted by HARK robot audition software. SMC Osamu Sugiyama, Katsutoshi Itoyama, Kazuhiro Nakadai, Hiroshi G. Okuno
2014	J	`jnl`	The MEI Robot: Towards Using Motherese to Develop Multimodal Emotional Intelligence. IEEE Trans. Auton. Ment. Dev. Angelica Lim, Hiroshi G. Okuno
2014	J	`jnl`	The interaction between a robot and multiple people based on spatially mapping of friendliness and motion parameters. Adv. Robotics Tsuyoshi Tasaki, Tetsuya Ogata, Hiroshi G. Okuno
2014	Misc	`conf`	Transcribing vocal expression from polyphonic music. ICASSP Yukara Ikemiya, Katsutoshi Itoyama, Hiroshi G. Okuno
2014	—	`conf`	Transferring Vocal Expression of F0 Contour Using Singing Voice Synthesizer. IEA/AIE (2) Yukara Ikemiya, Katsutoshi Itoyama, Hiroshi G. Okuno
2014	A	`conf`	Visualization of auditory awareness based on sound source positions estimated by depth sensor and microphone array. IROS Takahiro Iyama, Osamu Sugiyama, Takuma Otsuka, Katsutoshi Itoyama, Hiroshi G. Okuno
2013	J	`jnl`	A real-time super-resolution robot audition system that improves the robustness of simultaneous speech recognition. Adv. Robotics Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno
2013	Misc	`conf`	Audio-based guitar tablature transcription using multipitch analysis and playability constraints. ICASSP Kazuki Yazawa, Daichi Sakaue, Kohei Nagira, Katsutoshi Itoyama, Hiroshi G. Okuno
2013	A	`conf`	Automatic estimation of dialect mixing ratio for dialect speech recognition. INTERSPEECH Naoki Hirayama, Koichiro Yoshino, Katsutoshi Itoyama, Shinsuke Mori, Hiroshi G. Okuno
2013	B	`conf`	Developmental Human-Robot Imitation Learning of Drawing with a Neuro Dynamical System. SMC Keita Mochizuki, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
2013	A*	`conf`	Hands-free human-robot communication robust to speaker's radial position. ICRA Randy Gomez, Keisuke Nakamura, Kazuhiro Nakadai, Ui-Hyun Kim, Hiroshi G. Okuno, Tatsuya Kawahara
2013	C	`conf`	Improved Sound Source Localization and Front-Back Disambiguation for Humanoid Robots with Two Ears. IEA/AIE Ui-Hyun Kim, Kazuhiro Nakadai, Hiroshi G. Okuno
2013	J	`jnl`	Improved binaural sound localization and tracking for unknown time-varying number of speakers. Adv. Robotics Ui-Hyun Kim, Hiroshi G. Okuno
2013	Misc	`conf`	Initialization-robust Bayesian multipitch analyzer based on psychoacoustical and musical criteria. ICASSP Daichi Sakaue, Takuma Otsuka, Katsutoshi Itoyama, Hiroshi G. Okuno
2013	—	`conf`	Integration of behaviors and languages with a hierarchal structure self-organized in a neuro-dynamical model. RiiSS Tetsuya Ogata, Hiroshi G. Okuno
2013	—	`conf`	Learning and association of synaesthesia phenomenon using deep neural networks. SII Yuki Yamaguchi, Kuniaki Noda, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
2013	Misc	`conf`	Multiple index combination for Japanese spoken term detection with optimum index selection based on OOV-region classifier. ICASSP Naoyuki Kanda, Katsutoshi Itoyama, Hiroshi G. Okuno
2013	A	`conf`	Noise correlation matrix estimation for improving sound source localization by multirotor UAV. IROS Koutarou Furukawa, Keita Okutani, Kohei Nagira, Takuma Otsuka, Katsutoshi Itoyama, Kazuhiro Nakadai, Hiroshi G. Okuno
2013	J	`jnl`	Nonparametric Bayesian sparse factor analysis for frequency domain blind source separation without permutation ambiguity. EURASIP J. Audio Speech Music. Process. Kohei Nagira, Takuma Otsuka, Hiroshi G. Okuno
2013	A	`conf`	Posture estimation of hose-shaped robot using microphone array localization. IROS Yoshiaki Bando, Takeshi Mizumoto, Katsutoshi Itoyama, Kazuhiro Nakadai, Hiroshi G. Okuno
2013	—	`conf`	Proposal of International Conference Promotion: Destination Branding and Risk Management by a Network of Conference Centres. ICServ Mayumi J. Hikita, Hiroshi G. Okuno
2013	J	`jnl`	Robust Multipitch Analyzer against Initialization based on Latent Harmonic Allocation using Overtone Corpus. Inf. Media Technol. Daichi Sakaue, Katsutoshi Itoyama, Tetsuya Ogata, Hiroshi G. Okuno
2013	J	`jnl`	Robust Multipitch Analyzer against Initialization based on Latent Harmonic Allocation using Overtone Corpus. J. Inf. Process. Daichi Sakaue, Katsutoshi Itoyama, Tetsuya Ogata, Hiroshi G. Okuno
2013	—	`conf`	Robust localization and tracking of multiple speakers in real environments for binaural robot audition. WIAMIS Ui-Hyun Kim, Hiroshi G. Okuno
2013	Misc	`conf`	Solving Google's Continuous Audio CAPTCHA with HMM-Based Automatic Speech Recognition. IWSEC Shotaro Sano, Takuma Otsuka, Hiroshi G. Okuno
2012	—	`conf`	A GMM Sound Source Model for Blind Speech Separation in Under-determined Conditions. LVA/ICA Yasuharu Hirasawa, Naoki Yasuraoka, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2012	J	`jnl`	A Musical Robot that Synchronizes with a Coplayer Using Non-Verbal Cues. Adv. Robotics Angelica Lim, Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno
2012	J	`jnl`	A multimodal tempo and beat-tracking system based on audiovisual information from live guitar performances. EURASIP J. Audio Speech Music. Process. Tatsuhiko Itohara, Takuma Otsuka, Takeshi Mizumoto, Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno
2012	—	`ch.`	Adaptive Pitch Control for Robot Thereminist Using Unscented Kalman Filter. Modern Advances in Intelligent Systems and Tools Takeshi Mizumoto, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2012	B	`conf`	An active audition framework for auditory-driven HRI: Application to interactive robot dancing. RO-MAN João Lobato Oliveira, Gökhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luís Paulo Reis, Fabien Gouyon
2012	J	`jnl`	Automated Violin Fingering Transcription Through Analysis of an Audio Recording. Comput. Music. J. Akira Maezawa, Katsutoshi Itoyama, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2012	J	`jnl`	Automatic Allocation of Training Data for Speech Understanding Based on Multiple Model Combinations. IEICE Trans. Inf. Syst. Kazunori Komatani, Mikio Nakano, Masaki Katsumaru, Kotaro Funakoshi, Tetsuya Ogata, Hiroshi G. Okuno
2012	C	`conf`	Automatic Chord Recognition Based on Probabilistic Integration of Acoustic Features, Bass Sounds, and Chord Transition. IEA/AIE Katsutoshi Itoyama, Tetsuya Ogata, Hiroshi G. Okuno
2012	—	`conf`	Bayesian Nonnegative Harmonic-Temporal Factorization and Its Application to Multipitch Analysis. ISMIR Daichi Sakaue, Takuma Otsuka, Katsutoshi Itoyama, Hiroshi G. Okuno
2012	A*	`conf`	Bayesian Unification of Sound Source Localization and Separation with Permutation Resolution. AAAI Takuma Otsuka, Katsuhiko Ishiguro, Hiroshi Sawada, Hiroshi G. Okuno
2012	B	`conf`	Body area segmentation from visual scene based on predictability of neuro-dynamical system. IJCNN Harumitsu Nobuta, Kenta Kawamoto, Kuniaki Noda, Kohtaro Sabe, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
2012	—	`conf`	Complex Extension of Infinite Sparse Factor Analysis for Blind Speech Separation. LVA/ICA Kohei Nagira, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2012	J	`jnl`	Efficient Blind Dereverberation and Echo Cancellation Based on Independent Component Analysis for Actual Acoustic Signals. Neural Comput. Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2012	—	`conf`	Improvement of audio-visual score following in robot ensemble with human guitarist. Humanoids Tatsuhiko Itohara, Kazuhiro Nakadai, Tetsuya Ogata, Hiroshi G. Okuno
2012	A*	`conf`	Incremental probabilistic geometry estimation for robot scene understanding. ICRA Louis-Kenzo Cahier, Tetsuya Ogata, Hiroshi G. Okuno
2012	—	`conf`	Infinite Sparse Factor Analysis for Blind Source Separation in Reverberant Environments. SSPR/SPR Kohei Nagira, Takuma Otsuka, Hiroshi G. Okuno
2012	Misc	`conf`	Initialization-robust multipitch estimation based on latent harmonic allocation using overtone corpus. ICASSP Daichi Sakaue, Katsutoshi Itoyama, Tetsuya Ogata, Hiroshi G. Okuno
2012	A	`conf`	Live assessment of beat tracking for robot audition. IROS João Lobato Oliveira, Gökhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luís Paulo Reis, Fabien Gouyon
2012	B	`conf`	Self-organization of object features representing motion using Multiple Timescales Recurrent Neural Network. IJCNN Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
2012	A	`conf`	Sound sources selection system by using onomatopoeic querries from multiple sound sources. IROS Yusuke Yamamura, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2012	B	`conf`	Statistical Method of Building Dialect Language Models for ASR Systems. COLING Naoki Hirayama, Shinsuke Mori, Hiroshi G. Okuno
2012	J	`jnl`	Tool-Body Assimilation of Humanoid Robot Using a Neurodynamical System. IEEE Trans. Auton. Ment. Dev. Shun Nishide, Jun Tani, Toru Takahashi, Hiroshi G. Okuno, Tetsuya Ogata
2012	J	`jnl`	Towards expressive musical robots: a cross-modal framework for emotional gesture, voice and music. EURASIP J. Audio Speech Music. Process. Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno
2012	A	`conf`	Unified auditory functions based on Bayesian topic model. IROS Takuma Otsuka, Katsuhiko Ishiguro, Hiroshi Sawada, Hiroshi G. Okuno
2012	—	`conf`	Using Speech Data to Recognize Emotion in Human Gait. HBU Angelica Lim, Hiroshi G. Okuno
2012	A	`conf`	Who is the leader in a multiperson ensemble? - Multiperson human-robot ensemble model with leaderness -. IROS Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno
2011	—	`conf`	A Two-Stage Domain Selection Framework for Extensible Multi-Domain Spoken Dialogue Systems. SIGDIAL Conference Mikio Nakano, Shun Sato, Kazunori Komatani, Kyoko Matsuyama, Kotaro Funakoshi, Hiroshi G. Okuno
2011	J	`jnl`	A multi-expert model for dialogue and behavior control of conversational robots and agents. Knowl. Based Syst. Mikio Nakano, Yuji Hasegawa, Kotaro Funakoshi, Johane Takeuchi, Toyotaka Torii, Kazuhiro Nakadai, Naoyuki Kanda, Kazunori Komatani, Hiroshi G. Okuno, Hiroshi Tsujino
2011	—	`conf`	A musical mood trajectory estimation method using lyrics and acoustic features. MIRUM Naoki Nishikawa, Katsutoshi Itoyama, Hiromasa Fujihara, Masataka Goto, Tetsuya Ogata, Hiroshi G. Okuno
2011	A	`conf`	Bayesian Extension of MUSIC for Sound Source Localization and Tracking. INTERSPEECH Takuma Otsuka, Kazuhiro Nakadai, Tetsuya Ogata, Hiroshi G. Okuno
2011	J	`jnl`	Blind Separation and Dereverberation of Speech Mixtures by Joint Optimization. IEEE Trans. Speech Audio Process. Takuya Yoshioka, Tomohiro Nakatani, Masato Miyoshi, Hiroshi G. Okuno
2011	J	`jnl`	Classification of Known and Unknown Environmental Sounds Based on Self-Organized Space Using a Recurrent Neural Network. Adv. Robotics Yang Zhang, Tetsuya Ogata, Shun Nishide, Toru Takahashi, Hiroshi G. Okuno
2011	—	`conf`	Cluster Self-organization of Known and Unknown Environmental Sounds Using Recurrent Neural Network. ICANN (1) Yang Zhang, Shun Nishide, Toru Takahashi, Hiroshi G. Okuno, Tetsuya Ogata
2011	—	`conf`	Converting emotional voice to motion for robot telepresence. Humanoids Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno
2011	A*	`conf`	Design and implementation of selectable sound separation on the Texai telepresence system using HARK. ICRA Takeshi Mizumoto, Kazuhiro Nakadai, Takami Yoshida, Ryu Takeda, Takuma Otsuka, Toru Takahashi, Hiroshi G. Okuno
2011	J	`jnl`	Emergence of hierarchical structure mirroring linguistic composition in a recurrent neural network. Neural Networks Wataru Hinoshita, Hiroaki Arie, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
2011	—	`conf`	Environmental Sound Recognition for Robot Audition Using Matching-Pursuit. IEA/AIE (2) Nobuhide Yamakawa, Toru Takahashi, Tetsuro Kitahara, Tetsuya Ogata, Hiroshi G. Okuno
2011	—	`conf`	Evaluation of Spoken Dialogue System that uses Utterance Timing to Interpret User Utterances. IWSDS Kazunori Komatani, Kyoko Matsuyama, Ryu Takeda, Tetsuya Ogata, Hiroshi G. Okuno
2011	A	`conf`	Fast and Simple Iterative Algorithm of Lp-Norm Minimization for Under-Determined Speech Separation. INTERSPEECH Yasuharu Hirasawa, Naoki Yasuraoka, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2011	B	`conf`	Handwriting prediction based character recognition using recurrent neural network. SMC Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata, Jun Tani
2011	Misc	`conf`	I-Divergence-based dereverberation method with auxiliary function approach. ICASSP Naoki Yasuraoka, Hirokazu Kameoka, Takuya Yoshioka, Hiroshi G. Okuno
2011	A	`conf`	Improvement of speaker localization by considering multipath interference of sound wave for binaural robot audition. IROS Ui-Hyun Kim, Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno
2011	—	`conf`	Incremental Bayesian Audio-to-Score Alignment with Flexible Harmonic Structure Models. ISMIR Takuma Otsuka, Kazuhiro Nakadai, Tetsuya Ogata, Hiroshi G. Okuno
2011	J	`jnl`	LyricSynchronizer: Automatic Synchronization System Between Musical Audio Signals and Lyrics. IEEE J. Sel. Top. Signal Process. Hiromasa Fujihara, Masataka Goto, Jun Ogata, Hiroshi G. Okuno
2011	A	`conf`	Particle-filter based audio-visual beat-tracking for music robot ensemble with human guitarist. IROS Tatsuhiko Itohara, Takuma Otsuka, Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno
2011	J	`jnl`	People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot. J. Robotics Tsuyoshi Tasaki, Fumio Ozaki, Nobuto Matsuhira, Tetsuya Ogata, Hiroshi G. Okuno
2011	Misc	`conf`	Polyphonic audio-to-score alignment based on Bayesian Latent Harmonic Allocation Hidden Markov Model. ICASSP Akira Maezawa, Hiroshi G. Okuno, Tetsuya Ogata, Masataka Goto
2011	J	`jnl`	Real-Time Audio-to-Score Alignment Using Particle Filter for Coplayer Music Robots. EURASIP J. Adv. Signal Process. Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2011	—	`conf`	Robot with Two Ears Listens to More than Two Simultaneous Utterances by Exploiting Harmonic Structures. IEA/AIE (1) Yasuharu Hirasawa, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2011	Misc	`conf`	Simultaneous processing of sound source separation and musical instrument identification using Bayesian spectral modeling. ICASSP Katsutoshi Itoyama, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2011	J	`jnl`	Towards Written Text Recognition Based on Handwriting Experiences Using a Recurrent Neural Network. Adv. Robotics Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
2011	—	`conf`	Use of a Sparse Structure to Improve Learning Performance of Recurrent Neural Networks. ICONIP (3) Hiromitsu Awano, Shun Nishide, Hiroaki Arie, Jun Tani, Toru Takahashi, Hiroshi G. Okuno, Tetsuya Ogata
2010	—	`conf`	A Corpus-Based Analysis of Coreferential Recency Effect in Japanese Discourse for Tracking Dynamic Topic. ACIS-ICIS Shun Shiramatsu, Tadachika Ozono, Toramatsu Shintani, Hiroshi G. Okuno
2010	J	`jnl`	A Modeling of Singing Voice Robust to Accompaniment Sounds and Its Application to Singer Identification and Vocal-Timbre-Similarity-Based Music Information Retrieval. IEEE Trans. Speech Audio Process. Hiromasa Fujihara, Masataka Goto, Tetsuro Kitahara, Hiroshi G. Okuno
2010	—	`conf`	An Improvement in Audio-Visual Voice Activity Detection for Automatic Speech Recognition. IEA/AIE (1) Takami Yoshida, Kazuhiro Nakadai, Hiroshi G. Okuno
2010	A	`conf`	An improvement in automatic speech recognition using soft missing feature masks for robot audition. IROS Toru Takahashi, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A	`conf`	Analyzing user utterances in barge-in-able spoken dialogue system for improving identification accuracy. INTERSPEECH Kyoko Matsuyama, Kazunori Komatani, Ryu Takeda, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2010	—	`conf`	Automatic Allocation of Training Data for Rapid Prototyping of Speech Understanding based on Multiple Model Combination. COLING (Posters) Kazunori Komatani, Masaki Katsumaru, Mikio Nakano, Kotaro Funakoshi, Tetsuya Ogata, Hiroshi G. Okuno
2010	J	`jnl`	Design and Implementation of Robot Audition System 'HARK' - Open Source Software for Listening to Three Simultaneous Speakers. Adv. Robotics Kazuhiro Nakadai, Toru Takahashi, Hiroshi G. Okuno, Hirofumi Nakajima, Yuji Hasegawa, Hiroshi Tsujino
2010	A*	`conf`	Design and Implementation of Two-level Synchronization for Interactive Music Robot. AAAI Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A	`conf`	Effects of modelling within- and between-frame temporal variations in power spectra on non-verbal sound recognition. INTERSPEECH Nobuhide Yamakawa, Tetsuro Kitahara, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A	`conf`	Exploiting harmonic structures to improve separating simultaneous speech in under-determined conditions. IROS Yasuharu Hirasawa, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	B	`conf`	Human-robot cooperation in arrangement of objects using confidence measure of neuro-dynamical system. SMC Hiromitsu Awano, Tetsuya Ogata, Shun Nishide, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno
2010	A	`conf`	Human-robot ensemble between robot thereminist and human percussionist using coupled oscillator model. IROS Takeshi Mizumoto, Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A*	`conf`	Improvement in listening capability for humanoid robot HRP-2. ICRA Toru Takahashi, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	—	`conf`	Improving Identification Accuracy by Extending Acceptable Utterances in Spoken Dialogue System Using Barge-in Timing. IEA/AIE (2) Kyoko Matsuyama, Kazunori Komatani, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2010	J	`jnl`	Inter-modality mapping in robot with recurrent neural network. Pattern Recognit. Lett. Tetsuya Ogata, Shun Nishide, Hideki Kozima, Kazunori Komatani, Hiroshi G. Okuno
2010	A	`conf`	Motion generation based on reliable predictability using self-organized object features. IROS Shun Nishide, Tetsuya Ogata, Jun Tani, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno
2010	Misc	`conf`	Music dereverberation using harmonic structure source model and Wiener filter. ICASSP Naoki Yasuraoka, Takuya Yoshioka, Tomohiro Nakatani, Atsushi Nakamura, Hiroshi G. Okuno
2010	—	`conf`	Music-Ensemble Robot That Is Capable of Playing the Theremin While Listening to the Accompanied Music. IEA/AIE (1) Takuma Otsuka, Takeshi Mizumoto, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	Misc	`conf`	Noisy speech enhancement based on prior knowledge about spectral envelope and harmonic structure. ICASSP Takuya Yoshioka, Tomohiro Nakatani, Hiroshi G. Okuno
2010	—	`conf`	Online Error Detection of Barge-In Utterances by Using Individual Users' Utterance Histories in Spoken Dialogue System. SIGDIAL Conference Kazunori Komatani, Hiroshi G. Okuno
2010	—	`conf`	Query-by-conducting: An Interface to Retrieve Classical-music Interpretations by Real-time Tempo Input. ISMIR Akira Maezawa, Masataka Goto, Hiroshi G. Okuno
2010	—	`conf`	Recognition and Generation of Sentences through Self-organizing Linguistic Hierarchy Using MTRNN. IEA/AIE (3) Wataru Hinoshita, Hiroaki Arie, Jun Tani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A	`conf`	Robot musical accompaniment: integrating audio and visual cues for real-time synchronization with a human flutist. IROS Angelica Lim, Takeshi Mizumoto, Louis-Kenzo Cahier, Takuma Otsuka, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	J	`jnl`	Selecting Help Messages by Using Robust Grammar Verification for Handling Out-of-Grammar Utterances in Spoken Dialogue Systems. IEICE Trans. Inf. Syst. Kazunori Komatani, Yuichiro Fukubayashi, Satoshi Ikeda, Tetsuya Ogata, Hiroshi G. Okuno
2010	J	`jnl`	Soft missing-feature mask generation for robot audition. Paladyn J. Behav. Robotics Toru Takahashi, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	A	`conf`	Speedup and performance improvement of ICA-based robot audition by parallel and resampling-based block-wise processing. IROS Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	—	`conf`	System for Supporting Web-based Public Debate Using Transcripts of Face-to-Face Meeting. IEA/AIE (3) Shun Shiramatsu, Jun Takasaki, Tatiana Zidrasco, Tadachika Ozono, Toramatsu Shintani, Hiroshi G. Okuno
2010	A	`conf`	Two-layered audio-visual speech recognition for robots in noisy environments. IROS Takami Yoshida, Kazuhiro Nakadai, Hiroshi G. Okuno
2010	A*	`conf`	Upper-limit evaluation of robot audition based on ICA-BSS in multi-source, barge-in and highly reverberant conditions. ICRA Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	—	`conf`	Violin Fingering Estimation Based on Violin Pedagogical Fingering Model Constrained by Bowed Sequence Estimation from Audio Input. IEA/AIE (3) Akira Maezawa, Katsutoshi Itoyama, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2010	J	`jnl`	Voice-awareness control for a humanoid robot consistent with its body posture and movements. Paladyn J. Behav. Robotics Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	A Model of Temporally Changing User Behaviors in a Deployed Spoken Dialogue System. UMAP Kazunori Komatani, Tatsuya Kawahara, Hiroshi G. Okuno
2009	—	`conf`	A Speech Understanding Framework that Uses Multiple Language Models and Multiple Understanding Models. HLT-NAACL (Short Papers) Masaki Katsumaru, Mikio Nakano, Kazunori Komatani, Kotaro Funakoshi, Tetsuya Ogata, Hiroshi G. Okuno
2009	—	`conf`	A novel framework for recognizing phonemes of singing voice in polyphonic music. WASPAA Hiromasa Fujihara, Masataka Goto, Hiroshi G. Okuno
2009	C	`conf`	Adjusting Occurrence Probabilities of Automatically-Generated Abbreviated Words in Spoken Dialogue Systems. IEA/AIE Masaki Katsumaru, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	—	`conf`	Automatic estimation of reverberation time with robot speech to improve ICA-based robot audition. Humanoids Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	—	`conf`	Automatic speech recognition improved by two-layered audio-visual integration for robot audition. Humanoids Takami Yoshida, Kazuhiro Nakadai, Hiroshi G. Okuno
2009	J	`jnl`	Autonomous Motion Generation Based on Reliable Predictability. J. Robotics Mechatronics Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2009	C	`conf`	Bowed String Sequence Estimation of a Violin Based on Adaptive Audio Signal Classification and Context-Dependent Error Correction. ISM Akira Maezawa, Katsutoshi Itoyama, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2009	A*	`conf`	Changing timbre and phrase in existing musical performances as you like: manipulations of single part using harmonic and inharmonic models. ACM Multimedia Naoki Yasuraoka, Takehiro Abe, Katsutoshi Itoyama, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2009	A*	`conf`	Continuous vocal imitation with self-organized vowel spaces in Recurrent Neural Network. ICRA Hisashi Kanda, Tetsuya Ogata, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno
2009	—	`conf`	Development of a Meeting Browser towards Supporting Public Involvement. CSE (4) Shun Shiramatsu, Tadachika Ozono, Toramatsu Shintani, Kazunori Komatani, Tetsuya Ogata, Toru Takahashi, Hiroshi G. Okuno
2009	A	`conf`	Emergence of evolutionary interaction with voice and motion between two robots using RNN. IROS Wataru Hinoshita, Tetsuya Ogata, Hideki Kozima, Hisashi Kanda, Toru Takahashi, Hiroshi G. Okuno
2009	A	`conf`	Enabling a user to specify an item at any time during system enumeration - item identification for barge-in-able conversational dialogue systems. INTERSPEECH Kyoko Matsuyama, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	J	`jnl`	Human Tracking System Integrating Sound and Face Localization Using an Expectation-Maximization Algorithm in Real Environments. Adv. Robotics Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	Misc	`conf`	ICA-based efficient blind dereverberation and echo cancellation method for barge-in-able robot audition. ICASSP Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	Improving speech understanding accuracy with limited training data using multiple language models and multiple understanding models. INTERSPEECH Masaki Katsumaru, Mikio Nakano, Kazunori Komatani, Kotaro Funakoshi, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	Incremental polyphonic audio to score alignment using beat tracking for singer robots. IROS Takuma Otsuka, Toru Takahashi, Hiroshi G. Okuno, Kazunori Komatani, Tetsuya Ogata, Kazumasa Murata, Kazuhiro Nakadai
2009	A	`conf`	Missing-feature-theory-based robust simultaneous speech recognition system with non-clean speech acoustic model. IROS Toru Takahashi, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	Modeling tool-body assimilation using second-order Recurrent Neural Network. IROS Shun Nishide, Tatsuhiro Nakagawa, Tetsuya Ogata, Jun Tani, Toru Takahashi, Hiroshi G. Okuno
2009	J	`jnl`	Parameter Estimation for Harmonic and Inharmonic Models by Using Timbre Feature Distributions. Inf. Media Technol. Katsutoshi Itoyama, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	J	`jnl`	Parameter Estimation for Harmonic and Inharmonic Models by Using Timbre Feature Distributions. J. Inf. Process. Katsutoshi Itoyama, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	Phoneme acquisition model based on vowel imitation using Recurrent Neural Network. IROS Hisashi Kanda, Tetsuya Ogata, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno
2009	A*	`conf`	Prediction and imitation of other's motions by reusing own forward-inverse model in robots. ICRA Tetsuya Ogata, Ryunosuke Yokoya, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2009	—	`conf`	Ranking Help Message Candidates Based on Robust Grammar Verification Results and Utterance History in Spoken Dialogue Systems. SIGDIAL Conference Kazunori Komatani, Satoshi Ikeda, Yuichiro Fukubayashi, Tetsuya Ogata, Hiroshi G. Okuno
2009	C	`conf`	Robot Audition: Missing Feature Theory Approach and Active Audition. ISRR Hiroshi G. Okuno, Kazuhiro Nakadai, Hyun-Don Kim
2009	J	`jnl`	Self-organization of Dynamic Object Features Based on Bidirectional Training. Adv. Robotics Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2009	—	`conf`	Statistical models for speech dereverberation. WASPAA Takuya Yoshioka, Hirokazu Kameoka, Tomohiro Nakatani, Hiroshi G. Okuno
2009	A	`conf`	Step-size parameter adaptation of multi-channel semi-blind ICA with piecewise linear model for barge-in-able robot audition. IROS Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	J	`jnl`	Target Speech Detection and Separation for Communication with Humanoid Robots in Noisy Home Environments. Adv. Robotics Hyun-Don Kim, Jinsung Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2009	A	`conf`	Thereminist robot: Development of a robot theremin player with feedforward and feedback arm control based on a Theremin's pitch model. IROS Takeshi Mizumoto, Hiroshi Tsujino, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno
2009	—	`conf`	Voice quality manipulation for humanoid robots consistent with their head movements. Humanoids Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	—	`conf`	3D Auditory Scene Visualizer with Face Tracking: Design and Implementation for Auditory Awareness Compensation. ISUC Yuji Kubota, Shun Shiramatsu, Masatoshi Yoshida, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	—	`conf`	A Robot Singer with Music Recognition Based on Real-Time Beat Tracking. ISMIR Kazumasa Murata, Kazuhiro Nakadai, Kazuyoshi Yoshii, Ryu Takeda, Toyotaka Torii, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino
2008	—	`conf`	A beat-tracking robot for human-robot interaction and its evaluation. Humanoids Kazumasa Murata, Kazumasa Nakadai, Ryu Takeda, Hiroshi G. Okuno, Toyotaka Torii, Yuji Hasegawa, Hiroshi Tsujino
2008	J	`jnl`	A game-theoretic model of referential coherence and its empirical verification using large Japanese and English corpora. ACM Trans. Speech Lang. Process. Shun Shiramatsu, Kazunori Komatani, Kôiti Hasida, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	A robot listens to music and counts its beats aloud by separating music from counting voice. IROS Takeshi Mizumoto, Ryu Takeda, Kazuyoshi Yoshii, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A*	`conf`	A robot referee for rock-paper-scissors sound games. ICRA Kazuhiro Nakadai, Shun'ichi Yamamoto, Hiroshi G. Okuno, Hirofumi Nakajima, Yuji Hasegawa, Hiroshi Tsujino
2008	A	`conf`	A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing. IROS Kazumasa Murata, Kazuhiro Nakadai, Kazuyoshi Yoshii, Ryu Takeda, Toyotaka Torii, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino
2008	A	`conf`	Active sensing based dynamical object feature extraction. IROS Shun Nishide, Tetsuya Ogata, Ryunosuke Yokoya, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2008	J	`jnl`	An Efficient Hybrid Music Recommender System Using an Incrementally Trainable Probabilistic Generative Model. IEEE Trans. Speech Audio Process. Kazuyoshi Yoshii, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	—	`conf`	An open source software system for robot audition HARK and its evaluation. Humanoids Kazuhiro Nakadai, Hiroshi G. Okuno, Hirofumi Nakajima, Yuji Hasegawa, Hiroshi Tsujino
2008	—	`conf`	Automatic Chord Recognition Based on Probabilistic Integration of Chord Transition and Bass Pitch Estimation. ISMIR Kouhei Sumi, Katsutoshi Itoyama, Kazuyoshi Yoshii, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Barge-in-able robot audition based on ICA and missing feature theory under semi-blind situation. IROS Ryu Takeda, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	J	`jnl`	Cheek to Chip: Dancing Robots and AI's Future. IEEE Intell. Syst. Jean-Julien Aucouturier, Katsushi Ikeuchi, Hirohisa Hirukawa, Shinichiro Nakaoka, Takaaki Shiratori, Shunsuke Kudoh, Fumio Kanehiro, Tetsuya Ogata, Hideki Kozima, Hiroshi G. Okuno, Marek P. Michalowski, Yuta Ogai, Takashi Ikegami, Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata
2008	C	`conf`	Design and Implementation of 3D Auditory Scene Visualizer towards Auditory Awareness with Face Tracking. ISM Yuji Kubota, Masatoshi Yoshida, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers. IROS Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Expanding vocabulary for recognizing user's abbreviations of proper nouns without increasing ASR error rates in spoken dialogue systems. INTERSPEECH Masaki Katsumaru, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Extensibility verification of robust domain selection against out-of-grammar utterances in multi-domain spoken dialogue system. INTERSPEECH Satoshi Ikeda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	—	`conf`	Instrument Equalizer for Query-by-Example Retrieval: Improving Sound Source Separation Based on Integrated Harmonic and Inharmonic Models. ISMIR Katsutoshi Itoyama, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	C	`conf`	Integrating Topic Estimation and Dialogue History for Domain Selection in Multi-domain Spoken Dialogue Systems. IEA/AIE Satoshi Ikeda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	J	`jnl`	Managing out-of-grammar utterances by topic estimation with domain extensibility in multi-domain spoken dialogue systems. Speech Commun. Kazunori Komatani, Satoshi Ikeda, Tetsuya Ogata, Hiroshi G. Okuno
2008	A*	`conf`	Object dynamics prediction and motion generation based on reliable predictability. ICRA Shun Nishide, Tetsuya Ogata, Ryunosuke Yokoya, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2008	A	`conf`	Predicting ASR errors by exploiting barge-in rate of individual users for spoken dialogue systems. INTERSPEECH Kazunori Komatani, Tatsuya Kawahara, Hiroshi G. Okuno
2008	J	`jnl`	Predicting Object Dynamics From Visual Images Through Active Sensing Experiences. Adv. Robotics Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2008	B	`conf`	Rapid Prototyping of Robust Language Understanding Modules for Spoken Dialogue Systems. IJCNLP Yuichiro Fukubayashi, Kazunori Komatani, Mikio Nakano, Kotaro Funakoshi, Hiroshi Tsujino, Tetsuya Ogata, Hiroshi G. Okuno
2008	B	`conf`	SalienceGraph: Visualizing Salience Dynamics of Written Discourse by Using Reference Probability and PLSA. PRICAI Shun Shiramatsu, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Segmenting acoustic signal with articulatory movement using Recurrent Neural Network for phoneme acquisition. IROS Hisashi Kanda, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
2008	A	`conf`	Soft missing-feature mask generation for simultaneous speech recognition system in robots. INTERSPEECH Toru Takahashi, Shun'ichi Yamamoto, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A	`conf`	Target speech detection and separation for humanoid robots in sparse dialogue with noisy home environments. IROS Hyun-Don Kim, Jinsung Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2008	A*	`conf`	Two-channel-based voice activity detection for humanoid robots in noisy home environments. ICRA Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A	`conf`	A biped robot that keeps steps in time with musical beats while listening to music with its own ears. IROS Kazuyoshi Yoshii, Kazuhiro Nakadai, Toyotaka Torii, Yuji Hasegawa, Hiroshi Tsujino, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A	`conf`	Analyzing temporal transition of real user's behaviors in a spoken dialogue system. INTERSPEECH Kazunori Komatani, Tatsuya Kawahara, Hiroshi G. Okuno
2007	B	`conf`	Auditory and Visual Integration based Localization and Tracking of Multiple Moving Sounds in Daily-life Environments. RO-MAN Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A	`conf`	Auditory and visual integration based localization and tracking of humans in daily-life environments. IROS Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	C	`conf`	Design and implementation of a robot audition system for automatic speech recognition of simultaneous speech. ASRU Shun'ichi Yamamoto, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A	`conf`	Discovery of other individuals by projecting a self-model through imitation. IROS Ryunosuke Yokoya, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2007	A*	`conf`	Distance Estimation of Hidden Objects Based on Acoustical Holography by applying Acoustic Diffraction of Audible Sound. ICRA Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
2007	J	`jnl`	Drum Sound Recognition for Polyphonic Audio Signals by Adaptation and Matching of Spectrogram Templates With Harmonic Structure Suppression. IEEE Trans. Speech Audio Process. Kazuyoshi Yoshii, Masataka Goto, Hiroshi G. Okuno
2007	J	`jnl`	Drumix: An Audio Player with Real-time Drum-part Rearrangement Functions for Active Music Listening. Inf. Media Technol. Kazuyoshi Yoshii, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	C	`conf`	Evaluation of Two Simultaneous Continuous Speech Recognition with ICA BSS and MFT-Based ASR. IEA/AIE Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	J	`jnl`	Experience-based imitation using RNNPB. Adv. Robotics Ryunosuke Yokoya, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2007	A	`conf`	Exploiting known sound source signals to improve ICA-based robot audition in speech separation and recognition. IROS Ryu Takeda, Kazuhiro Nakadai, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A*	`conf`	Human-Robot Cooperation using Quasi-symbols Generated by RNNPB Model. ICRA Tetsuya Ogata, Shohei Matsumoto, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2007	—	`conf`	Improving Efficiency and Scalability of Model-Based Music Recommender System Based on Incremental Training. ISMIR Kazuyoshi Yoshii, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	J	`jnl`	Instrogram: Probabilistic Representation of Instrument Existence for Polyphonic Music. Inf. Media Technol. Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	J	`jnl`	Instrument Identification in Polyphonic Music: Feature Weighting to Minimize Influence of Sound Overlaps. EURASIP J. Adv. Signal Process. Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	—	`conf`	Integration and Adaptation of Harmonic and Inharmonic Models for Separating Polyphonic Musical Signals. ICASSP (1) Katsutoshi Itoyama, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	B	`conf`	Introducing Utterance Verification in Spoken Dialogue System to Improve Dynamic Help Generation for Novice Users. SIGdial Kazunori Komatani, Yuichiro Fukubayashi, Tetsuya Ogata, Hiroshi G. Okuno
2007	—	`conf`	Meaning Games. JSAI Kôiti Hasida, Shun Shiramatsu, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	C	`ed.`	New Trends in Applied Artificial Intelligence, 20th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2007, Kyoto, Japan, June 26-29, 2007, Proceedings IEA/AIE Hiroshi G. Okuno, Moonis Ali
2007	A*	`conf`	Predicting Object Dynamics from Visual Images through Active Sensing Experiences. ICRA Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2007	C	`conf`	Real-Time Auditory and Visual Talker Tracking Through Integrating EM Algorithm and Particle Filter. IEA/AIE Hyun-Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	J	`jnl`	Robust Recognition of Simultaneous Speech by a Mobile Robot. IEEE Trans. Robotics Jean-Marc Valin, Seiichi Yamamoto, Jean Rouat, François Michaud, Kazuhiro Nakadai, Hiroshi G. Okuno
2007	J	`jnl`	Statistical machine translation using hierarchical phrase alignment. Syst. Comput. Jpn. Taro Watanabe, Kenji Imamura, Eiichiro Sumita, Hiroshi G. Okuno
2007	A	`conf`	Topic estimation with domain extensibility for guiding user's out-of-grammar utterances in multi-domain spoken dialogue systems. INTERSPEECH Satoshi Ikeda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2007	A	`conf`	Two-way translation of compound sentences and arm motions by recurrent neural networks. IROS Tetsuya Ogata, Masamitsu Murase, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2007	A	`conf`	Vocal imitation using physical vocal tract model. IROS Hisashi Kanda, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
2007	—	`conf`	Vowel Imitation Using Vocal Tract Model and Recurrent Neural Network. ICONIP (2) Hisashi Kanda, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
2006	J	`jnl`	A privacy-enhanced access control. Syst. Comput. Jpn. Takamichi Saito, Kentaro Umesawa, Hiroshi G. Okuno
2006	—	`conf`	An Error Correction Framework Based on Drum Pattern Periodicity for Improving Drum Sound Detection. ICASSP (5) Kazuyoshi Yoshii, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Automatic Feature Weighting in Automatic Transcription of Specified Part in Polyphonic Music. ISMIR Katsutoshi Itoyama, Tetsuro Kitahara, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	C	`conf`	Automatic Synchronization between Lyrics and Music CD Recordings Based on Viterbi Alignment of Segregated Vocal Signals. ISM Hiromasa Fujihara, Masataka Goto, Jun Ogata, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	J	`jnl`	Common Acoustical Pole Estimation from Multi-Channel Musical Audio Signals. IEICE Trans. Fundam. Electron. Commun. Comput. Sci. Takuya Yoshioka, Takafumi Hikichi, Masato Miyoshi, Hiroshi G. Okuno
2006	J	`jnl`	Dynamic Communication of Humanoid Robot with Multiple People Based on Interaction Distance. Inf. Media Technol. Tsuyoshi Tasaki, Shohei Matsumoto, Hayato Ohba, Shun'ichi Yamamoto, Mitsuhiko Toda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Dynamic help generation by estimating user²s mental model in spoken dialogue systems. INTERSPEECH Yuichiro Fukubayashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Experience Based Imitation Using RNNPB. IROS Ryunosuke Yokoya, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2006	—	`conf`	F0 Estimation Method for Singing Voice in Polyphonic Audio Signal Based on Statistical Vocal Model and Viterbi Search. ICASSP (5) Hiromasa Fujihara, Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	C	`conf`	Genetic Algorithm-Based Improvement of Robot Hearing Capabilities in Separating and Recognizing Simultaneous Speech Signals. IEA/AIE Shun'ichi Yamamoto, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Ryu Takeda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Hybrid Collaborative and Content-based Music Recommendation Using Probabilistic Model with Latent User Preferences. ISMIR Kazuyoshi Yoshii, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Improving speech recognition of two simultaneous speech signals by integrating ICA BSS and automatic missing feature mask generation. INTERSPEECH Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Instrogram: A New Musical Instrument Recognition Technique Without Using Onset Detection NOR F0 Estimation. ICASSP (5) Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Leak energy based missing feature mask generation for ICA and GSS and its evaluation with simultaneous speech recognition. SAPA@INTERSPEECH Shun'ichi Yamamoto, Ryu Takeda, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Missing-Feature based Speech Recognition for Two Simultaneous Speech Signals Separated by ICA with a pair of Humanoid Ears. IROS Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Multi-Domain Spoken Dialogue System with Extensibility and Robustness against Speech Recognition Errors. SIGDIAL Workshop Kazunori Komatani, Naoyuki Kanda, Mikio Nakano, Kazuhiro Nakadai, Hiroshi Tsujino, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Multiple Acoustical Holography Method for Localization of Objects in Broad Range using Audible Sound. IROS Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
2006	C	`conf`	Musical Instrument Recognizer "Instrogram" and Its Application to Music Retrieval Based on Instrumentation Similarity. ISM Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Real-Time Robot Audition System That Recognizes Simultaneous Speech in The Real World. IROS Shun'ichi Yamamoto, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	A	`conf`	Real-Time Tracking of Multiple Sound Sources by Integration of In-Room and Robot-Embedded Microphone Arrays. IROS Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino
2006	B	`conf`	Recognition of Simultaneous Speech by Estimating Reliability of Separated Signals for Robot Audition. PRICAI Shun'ichi Yamamoto, Ryu Takeda, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	—	`conf`	Robust Tracking of Multiple Sound Sources by Spatial Integration of Room And Robot Microphone Arrays. ICASSP (4) Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Satoshi Kaijiri, Kentaro Yamada, Takahiro Nakamura, Yuji Hasegawa, Hiroshi G. Okuno, Hiroshi Tsujino
2006	—	`conf`	Robust decomposition of inverse filter of channel and prediction error filter of speech signal for dereverberation. EUSIPCO Takuya Yoshioka, Takafumi Hikichi, Masato Miyoshi, Hiroshi G. Okuno
2006	A	`conf`	Speaker identification under noisy environments by using harmonic structure extraction and reliable frame weighting. INTERSPEECH Hiromasa Fujihara, Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2006	J	`jnl`	Using multiple edit distances to automatically grade outputs from Machine translation systems. IEEE Trans. Speech Audio Process. Yasuhiro Akiba, Kenji Imamura, Eiichiro Sumita, Hiromi Nakaiwa, Shun'ichi Yamamoto, Hiroshi G. Okuno
2005	J	`jnl`	A computational model of monkey cortical grating cells. Biol. Cybern. Tino Lourens, Emilia I. Barakova, Hiroshi G. Okuno, Hiroshi Tsujino
2005	A	`conf`	A two-layer model for behavior and dialogue planning in conversational service robots. IROS Mikio Nakano, Yuji Hasegawa, Kazuhiro Nakadai, Takahiro Nakamura, Johane Takeuchi, Toyotaka Torii, Hiroshi Tsujino, Naoyuki Kanda, Hiroshi G. Okuno
2005	A	`conf`	Contextual constraints based on dialogue models in database search task for spoken dialogue systems. INTERSPEECH Kazunori Komatani, Naoyuki Kanda, Tetsuya Ogata, Hiroshi G. Okuno
2005	C	`conf`	Distance-Based Dynamic Interaction of Humanoid Robot with Multiple People. IEA/AIE Tsuyoshi Tasaki, Shohei Matsumoto, Hayato Ohba, Mitsuhiko Toda, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	C	`conf`	Empirical Verification of Meaning-Game-based Generalization of Centering Theory with Large Japanese Corpus. PACLIC Shun Shiramatsu, Kazunori Komatani, Takashi Miyata, Koichi Hashida, Hiroshi G. Okuno
2005	A*	`conf`	Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and Missing Feature Theory. ICRA Shun'ichi Yamamoto, Jean-Marc Valin, Kazuhiro Nakadai, Jean Rouat, François Michaud, Tetsuya Ogata, Hiroshi G. Okuno
2005	J	`jnl`	Extracting Multimodal Dynamics of Objects Using RNNPB. J. Robotics Mechatronics Tetsuya Ogata, Hayato Ohba, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2005	A	`conf`	Extracting multi-modal dynamics of objects using RNNPB. IROS Tetsuya Ogata, Hayato Ohba, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
2005	A	`conf`	Implementation of active direction-pass filter on dynamically reconfigurable processor. IROS Shunsuke Kurotaki, Noriaki Suzuki, Kazuhiro Nakadai, Hiroshi G. Okuno, Hideharu Amano
2005	—	`conf`	Instrument Identification in Polyphonic Music: Feature Weighting with Mixed Sounds, Pitch-Dependent Timbre Modeling, and Use of Musical Context. ISMIR Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	A	`conf`	Making a robot recognize three simultaneous sentences in real-time. IROS Shun'ichi Yamamoto, Kazuhiro Nakadai, Jean-Marc Valin, Jean Rouat, François Michaud, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	A	`conf`	Multiple moving speaker tracking by microphone array on mobile robot. INTERSPEECH Masamitsu Murase, Shun'ichi Yamamoto, Jean-Marc Valin, Kazuhiro Nakadai, Kentaro Yamada, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	J	`jnl`	Pitch-Dependent Identification of Musical Instrument Sounds. Appl. Intell. Tetsuro Kitahara, Masataka Goto, Hiroshi G. Okuno
2005	—	`conf`	Singer Identification Based on Accompaniment Sound Reduction and Reliable Frame Selection. ISMIR Hiromasa Fujihara, Tetsuro Kitahara, Masataka Goto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	A	`conf`	Spatially mapping of friendliness for human-robot interaction. IROS Tsuyoshi Tasaki, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2005	J	`jnl`	User Modeling in Spoken Dialogue Systems to Generate Flexible Guidance. User Model. User Adapt. Interact. Kazunori Komatani, Shinichi Ueno, Tatsuya Kawahara, Hiroshi G. Okuno
2005	B	`conf`	Walking with body-sense in virtual space using the nonlinear oscillator. SMC Kenri Kodaka, Tetsuya Ogata, Hiroshi G. Okuno
2004	A	`conf`	Assessment of general applicability of robot audition system by recognizing three simultaneous speeches. IROS Shun'ichi Yamamoto, Kazuhiro Nakadai, Hiroshi Tsujino, Hiroshi G. Okuno
2004	—	`conf`	Automatic Chord Transcription with Concurrent Recognition of Chord Symbols and Boundaries. ISMIR Takuya Yoshioka, Tetsuro Kitahara, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2004	—	`conf`	Automatic Drum Sound Description for Real-World Music Using Template Adaptation and Matching Methods. ISMIR Kazuyoshi Yoshii, Masataka Goto, Hiroshi G. Okuno
2004	B	`conf`	Automatic Sound-Imitation Word Recognition from Environmental Sounds Focusing on Ambiguity Problem in Determining Phonemes. PRICAI Kazushi Ishihara, Tomohiro Nakatani, Tetsuya Ogata, Hiroshi G. Okuno
2004	—	`conf`	Bus Information System Based on User Models and Dynamic Generation of VoiceXML Scripts. JSAI Workshops Shinichi Ueno, Fumihiro Adachi, Kazunori Komatani, Tatsuya Kawahara, Hiroshi G. Okuno
2004	—	`conf`	Category-level identification of non-registered musical instrument sounds. ICASSP (4) Tetsuro Kitahara, Masataka Goto, Hiroshi G. Okuno
2004	—	`conf`	Comparing features for forming music streams in automatic music transcription. ICASSP (4) Yohei Sakuraba, Tetsuro Kitahara, Hiroshi G. Okuno
2004	A	`conf`	Disambiguation in determining phonemes of sound-imitation words for environmental sound recognition. INTERSPEECH Kazushi Ishihara, Yuya Hattori, Tomohiro Nakatani, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
2004	—	`conf`	Drum sound identification for polyphonic music using template adaptation and matching methods. SAPA@INTERSPEECH Kazuyoshi Yoshii, Masataka Goto, Hiroshi G. Okuno
2004	J	`jnl`	Effects of increasing modalities in recognizing three simultaneous speeches. Speech Commun. Hiroshi G. Okuno, Kazuhiro Nakadai, Hiroaki Kitano
2004	B	`conf`	Efficient Confirmation Strategy for Large-scale Text Retrieval Systems with Spoken Dialogue Interface. COLING Kazunori Komatani, Teruhisa Misu, Tatsuya Kawahara, Hiroshi G. Okuno
2004	A*	`conf`	Improvement of Robot Audition by Interfacing Sound Source Separation and Automatic Speech Recognition with Missing Feature Theory. ICRA Shun'ichi Yamamoto, Kazuhiro Nakadai, Hiroshi Tsujino, Toshio Yokoyama, Hiroshi G. Okuno
2004	J	`jnl`	Improvement of recognition of simultaneous speech signals using AV integration and scattering theory for humanoid robots. Speech Commun. Kazuhiro Nakadai, Daisuke Matsuura, Hiroshi G. Okuno, Hiroshi Tsujino
2004	B	`conf`	Incremental Methods to Select Test Sentences for Evaluating Translation Ability. LREC Yasuhiro Akiba, Eiichiro Sumita, Hiromi Nakaiwa, Seiichi Yamamoto, Hiroshi G. Okuno
2004	C	`conf`	Recognition of Emotional States in Spoken Dialogue with a Robot. IEA/AIE Kazunori Komatani, Ryosuke Ito, Tatsuya Kawahara, Hiroshi G. Okuno
2004	A	`conf`	Robot motion control using listener's back-channels and head gesture information. INTERSPEECH Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno, Tsuyoshi Tasaki, Takeshi Yamaguchi
2004	J	`jnl`	Sound and Visual Tracking for Humanoid Robot. Appl. Intell. Hiroshi G. Okuno, Kazuhiro Nakadai, Tino Lourens, Hiroaki Kitano
2004	B	`conf`	Using a Mixture of N-Best Lists from Multiple MT Systems in Rank-Sum-Based Confidence Measure for MT Outputs. COLING Yasuhiro Akiba, Eiichiro Sumita, Hiromi Nakaiwa, Seiichi Yamamoto, Hiroshi G. Okuno
2003	A	`conf`	Applying scattering theory to robot audition system: robust sound source localization and extraction. IROS Kazuhiro Nakadai, Daisuke Matsuura, Hiroshi G. Okuno, Hiroaki Kitano
2003	A	`conf`	Automatic transformation of environmental sounds into sound-imitation words based on Japanese syllable structure. INTERSPEECH Kazushi Ishihara, Yasushi Tsubota, Hiroshi G. Okuno
2003	A*	`conf`	Chunk-Based Statistical Translation. ACL Taro Watanabe, Eiichiro Sumita, Hiroshi G. Okuno
2003	C	`conf`	Design and Implementation of Personality of Humanoids in Human Humanoid Non-verbal Interaction. IEA/AIE Hiroshi G. Okuno, Kazuhiro Nakadai, Hiroaki Kitano
2003	—	`conf`	Experimental comparison of MT evaluation methods: RED vs.BLEU. MTSummit Yasuhiro Akiba, Eiichiro Sumita, Hiromi Nakaiwa, Seiichi Yamamoto, Hiroshi G. Okuno
2003	A*	`conf`	Flexible Guidance Generation Using User Model in Spoken Dialogue Systems. ACL Kazunori Komatani, Shinichi Ueno, Tatsuya Kawahara, Hiroshi G. Okuno
2003	—	`conf`	Flexible Spoken Dialogue System based on User Models and Dynamic Generation of VoiceXML Scripts. SIGDIAL Workshop Kazunori Komatani, Fumihiro Adachi, Shinichi Ueno, Tatsuya Kawahara, Hiroshi G. Okuno
2003	J	`jnl`	Human-robot non-verbal interaction empowered by real-time auditory and visual multiple-talker tracking. Adv. Robotics Hiroshi G. Okuno, Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi Mizoguchi, Hiroaki Kitano
2003	—	`conf`	Improvement of three simultaneous speech recognition by using AV integration and scattering theory for humanoid. AVSP Kazuhiro Nakadai, Daisuke Matsuura, Hiroshi G. Okuno, Hiroshi Tsujino
2003	—	`conf`	Musical instrument identification based on F0-dependent multivariate normal distribution. ICASSP (5) Tetsuro Kitahara, Masataka Goto, Hiroshi G. Okuno
2003	A	`conf`	Musical instrument identification based on F0-dependent multivariate normal distribution. ICME Tetsuro Kitahara, Masataka Goto, Hiroshi G. Okuno
2003	—	`conf`	Note Recognition of Polyphonic Music by Using Timbre Similarity and Direction Proximity. ICMC Yohei Sakuraba, Hiroshi G. Okuno
2003	C	`conf`	Pitch-Dependent Musical Instrument Identification and Its Application to Musical Sound Ontology. IEA/AIE Tetsuro Kitahara, Masataka Goto, Hiroshi G. Okuno
2003	B	`conf`	Privacy-Enhanced SPKI Access Control on PKIX and Its Application to Web Server . AINA Takamichi Saito, Kentaro Umesawa, Toshiyuki Kito, Hiroshi G. Okuno
2003	—	`conf`	Real-Time Sound Source Localization and Separation Based on Active Audio-Visual Integration. IWANN (1) Hiroshi G. Okuno, Kazuhiro Nakadai
2003	A*	`conf`	Realizing personality in audio-visually triggered non-verbal behaviors. ICRA Hiroshi G. Okuno, Kazuhiro Nakadai, Hiroaki Kitano
2003	A*	`conf`	Robot recognizes three simultaneous speech by active audition. ICRA Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2003	A	`conf`	Three simultaneous speech recognition by integration of active audition and face recognition for humanoid. INTERSPEECH Kazuhiro Nakadai, Daisuke Matsuura, Hiroshi G. Okuno, Hiroshi Tsujino
2003	A	`conf`	User modeling in spoken dialogue systems for flexible guidance generation. INTERSPEECH Kazunori Komatani, Shinichi Ueno, Tatsuya Kawahara, Hiroshi G. Okuno
2002	A	`conf`	Auditory fovea based speech enhancement and its application to human-robot dialog system. INTERSPEECH Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2002	A	`conf`	Auditory fovea based speech separation and its application to dialog system. IROS Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2002	A	`conf`	Belief network based disambiguation of object reference in spoken dialogue system for robot. INTERSPEECH Yoko Yamakata, Tatsuya Kawahara, Hiroshi G. Okuno
2002	B	`conf`	Efficient Dialogue Strategy to Find Users' Intended Items from Information Query Results. COLING Kazunori Komatani, Tatsuya Kawahara, Ryosuke Ito, Hiroshi G. Okuno
2002	—	`conf`	Exploiting Auditory Fovea in Humanoid-Human Interaction. AAAI/IAAI Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2002	A*	`conf`	Real-Time Speaker Localization and Speech Separation by Audio-Visual Integration. ICRA Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi G. Okuno, Hiroaki Kitano
2002	J	`jnl`	Real-time Auditory and Visual Multiple-speaker Tracking For Human-robot Interaction. J. Robotics Mechatronics Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi G. Okuno, Hiroshi Mizoguchi, Hiroaki Kitano
2002	A	`conf`	Real-time sound source localization and separation for robot audition. INTERSPEECH Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2002	B	`conf`	Realizing Audio-Visually Triggered ELIZA-Like Non-verbal Behaviors. PRICAI Hiroshi G. Okuno, Kazuhiro Nakadai, Hiroaki Kitano
2002	C	`conf`	Social Interaction of Humanoid RobotBased on Audio-Visual Tracking. IEA/AIE Hiroshi G. Okuno, Kazuhiro Nakadai, Hiroaki Kitano
2001	B	`conf`	A computational model of monkey grating cells for oriented repetitive alternating patterns. ESANN Tino Lourens, Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2001	A	`conf`	An Access Control with handling Private Information. IPDPS Takamichi Saito, Kentaro Umesawa, Hiroshi G. Okuno
2001	Misc	`conf`	Automatic Graph Extraction from Color Images. ICIAP Tino Lourens, Hiroshi G. Okuno, Hiroaki Kitano
2001	—	`conf`	Detection of Oriented Repetitive Alternating Patterns in Color Images (A Computational Model of Monkey Grating Cells). IWANN (1) Tino Lourens, Hiroshi G. Okuno, Hiroaki Kitano
2001	A	`conf`	Epipolar geometry based sound localization and extraction for humanoid audition. IROS Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2001	B	`conf`	Graph extraction from color images. ESANN Tino Lourens, Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2001	A	`conf`	Human-robot interaction through real-time auditory and visual multiple-talker tracking. IROS Hiroshi G. Okuno, Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi Mizoguchi, Hiroaki Kitano
2001	A*	`conf`	Real-Time Auditory and Visual Multiple-Object Tracking for Humanoids. IJCAI Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi Mizoguchi, Hiroshi G. Okuno, Hiroaki Kitano
2001	A	`conf`	Real-time multiple speaker tracking by multi-modal integration for mobile robots. INTERSPEECH Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi G. Okuno, Hiroaki Kitano
2001	A	`conf`	Separating three simultaneous speeches with two microphones by integrating auditory and visual processing. INTERSPEECH Hiroshi G. Okuno, Kazuhiro Nakadai, Tino Lourens, Hiroaki Kitano
2001	C	`conf`	Sound and Visual Tracking for Humanoid Robot. IEA/AIE Hiroshi G. Okuno, Kazuhiro Nakadai, Tino Lourens, Hiroaki Kitano
2000	A	`conf`	A framework for integrating sensory information in a humanoid robot. IROS Iris Fermin, Hiroshi G. Okuno, Hiroshi Ishiguro, Hiroaki Kitano
2000	—	`conf`	Active Audition for Humanoid. AAAI/IAAI Kazuhiro Nakadai, Tino Lourens, Hiroshi G. Okuno, Hiroaki Kitano
2000	A	`conf`	Active audition system and humanoid exterior design. IROS Kazuhiro Nakadai, Tatsuya Matsui, Hiroshi G. Okuno, Hiroaki Kitano
2000	C	`conf`	And the Fans Are Going Wild! SIG plus MIKE. RoboCup Ian Frank, Kumiko Tanaka-Ishii, Hiroshi G. Okuno, Junichi Akita, Yukiko Nakagawa, Kazuaki Maeda, Kazuhiro Nakadai, Hiroaki Kitano
2000	C	`conf`	Bridging Gap between the Simulation and Robotics with a Global Vision System. RoboCup Yukiko Nakagawa, Hiroshi G. Okuno, Hiroaki Kitano
2000	A	`conf`	Design and architecture of SIG the humanoid: an experimental platform for integrated perception in RoboCup humanoid challenge. IROS Hiroaki Kitano, Hiroshi G. Okuno, Kazuhiro Nakadai, Theo Sabisch, Tatsuya Matsui
2000	—	`conf`	Designing a humanoid head for RoboCup challenge. Agents Hiroaki Kitano, Hiroshi G. Okuno, Kazuhiro Nakadai, Iris Fermin, Theo Sabisch, Yukiko Nakagawa, Tatsuya Matsui
2000	B	`conf`	Humanoid Active Audition System Improved by the Cover Acoustics. PRICAI Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano
2000	—	`conf`	Privacy enhanced access control by SPKI. ICPADS Workshops Takamichi Saito, Kentaro Umesawa, Hiroshi G. Okuno
2000	C	`conf`	Privacy-Enhanced Access Control by SPKI and Its Application to Web Server. WETICE Takamichi Saito, Kentaro Umesawa, Hiroshi G. Okuno
1999	J	`jnl`	Harmonic sound stream segregation using localization and its application to speech stream segregation. Speech Commun. Tomohiro Nakatani, Hiroshi G. Okuno
1999	J	`jnl`	Listening to two simultaneous speeches. Speech Commun. Hiroshi G. Okuno, Tomohiro Nakatani, Takeshi Kawabata
1999	—	`conf`	Using Vision to Improve Sound Source Separation. AAAI/IAAI Yukiko Nakagawa, Hiroshi G. Okuno, Hiroaki Kitano
1998	J	`jnl`	On the Properties of Combination Set Operations. Inf. Process. Lett. Hiroshi G. Okuno, Shin-ichi Minato, Hideki Isozaki
1998	—	`conf`	Sound Ontology for Computational Auditory Scence Analysis. AAAI/IAAI Tomohiro Nakatani, Hiroshi G. Okuno
1997	—	`conf`	Understanding Three Simultaneous Speeches. IJCAI (1) Hiroshi G. Okuno, Tomohiro Nakatani, Takeshi Kawabata
1996	—	`conf`	A new speech enhancement: speech stream segregation. ICSLP Hiroshi G. Okuno, Tomohiro Nakatani, Takeshi Kawabata
1996	C	`conf`	Design and Implementation of Multiple-Context Truth Maintenance System with Binary Decision Diagram. IEA/AIE Hiroshi G. Okuno, Osamu Shimokuni, Hidehiko Tanaka
1996	—	`conf`	Interfacing Sound Stream Segregation to Automatic Speech Recognition - Preliminary Results on Listening to Several Sounds Simultaneously. AAAI/IAAI, Vol. 2 Hiroshi G. Okuno, Tomohiro Nakatani, Takeshi Kawabata
1996	Misc	`conf`	Localization by harmonic structure and its application to harmonic sound stream segregation. ICASSP Tomohiro Nakatani, Masataka Goto, Hiroshi G. Okuno
1995	Misc	`conf`	A computational model of sound stream segregation with multi-agent paradigm. ICASSP Tomohiro Nakatani, Takeshi Kawabata, Hiroshi G. Okuno
1995	A*	`conf`	Residue-Driven Architecture for Computational Auditory Scene Analysis. IJCAI Tomohiro Nakatani, Hiroshi G. Okuno, Takeshi Kawabata
1994	A*	`conf`	Auditory Stream Segregation in Auditory Scene Analysis with a Multi-Agent System. AAAI Tomohiro Nakatani, Hiroshi G. Okuno, Takeshi Kawabata
1994	—	`conf`	Unified architecture for auditory scene analysis and spoken language processing. ICSLP Tomohiro Nakatani, Takeshi Kawabata, Hiroshi G. Okuno
1992	J	`jnl`	Experience of parallel AI programming with parallel Lisp. Future Gener. Comput. Syst. Hiroshi G. Okuno
1987	—	`conf`	A concurrent multiple-paradigm list processor TAO/ELIS. FJCC Ikuo Takeuchi, Hiroshi G. Okuno, Nobuyasu Osato, M. Kamio, Kenichi Yamazaki
1987	A*	`conf`	Firmware approach to fast Lisp interpreter. MICRO Hiroshi G. Okuno, Nobuyasu Osato, Ikuo Takeuchi
1986	J	`jnl`	A List Processing Language TAO with Multiple Programming Paradigms. New Gener. Comput. Ikuo Takeuchi, Hiroshi G. Okuno, Nobuyasu Ohsato
1984	—	`conf`	TAO: Afst Interpreter-Centered Lisp System on Lisp Machine ELIS. LISP and Functional Programming Hiroshi G. Okuno, Ikuo Takeuchi, Nobuyasu Ohsato, Yasushi Hibino, Kazufumi Watanabe
1983	J	`jnl`	TAO: a harmonic mean of Lisp, Prolog and Smalltalk. ACM SIGPLAN Notices Ikuo Takeuchi, Hiroshi G. Okuno, Nobuyasu Ohsato