I Know You're Listening: Adaptive Voice for HRI

Abstract: While the use of social robots for language teaching has been explored, there remains limited work on a task-specific synthesized voices for language teaching robots. Given that language is a verbal task, this gap may have severe consequences for the effectiveness of robots for language teaching tasks. We address this lack of L2 teaching robot voices through three contributions: 1. We address the need for a lightweight and expressive robot voice. Using a fine-tuned version of Matcha-TTS, we use emoji prompting to create an expressive voice that shows a range of expressivity over time. The voice can run in real time with limited compute resources. Through case studies, we found this voice more expressive, socially appropriate, and suitable for long periods of expressive speech, such as storytelling. 2. We explore how to adapt a robot's voice to physical and social ambient environments to deploy our voices in various locations. We found that increasing pitch and pitch rate in noisy and high-energy environments makes the robot's voice appear more appropriate and makes it seem more aware of its current environment. 3. We create an English TTS system with improved clarity for L2 listeners using known linguistic properties of vowels that are difficult for these listeners. We used a data-driven, perception-based approach to understand how L2 speakers use duration cues to interpret challenging words with minimal tense (long) and lax (short) vowels in English. We found that the duration of vowels strongly influences the perception for L2 listeners and created an "L2 clarity mode" for Matcha-TTS that applies a lengthening to tense vowels while leaving lax vowels unchanged. Our clarity mode was found to be more respectful, intelligible, and encouraging than base Matcha-TTS while reducing transcription errors in these challenging tense/lax minimal pairs.