Lend me an Ear: Speech Enhancement Using a Robotic Arm with a Microphone Array

arXiv:2602.17818 · cs.RO, cs.SD · Submitted 2026-02-19 · Read on arXiv

cs.RO, cs.SD

Submitted: 2026-02-19

Updated: 2026-09-23

Code: https://github.com/introlab/16SoundsUSB

Terminology

• Minimum Variance Distortionless Response — 4× in this paper
• Adaptation — 2× in this paper · explained in 1 episode
• Aperture — 2× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Automatic Speech Recognition (ASR) — 1× in this paper · explained in 2 episodes
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• MediaPipe: A Framework for Building Perception Pipelines
• Robust Speech Recognition via Large-Scale Weak Supervision

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