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• Dec. 5th, 2017, HARK 2.4.0 released
  • New features
    • Add MVDR node: hark-sss
    • Add HARKTOOL5-GUI
• Dec. 5th, 2017, The 14th Tutorial on Open Source Robot Audition Software HARK (第14回 HARK講習会) will be held at Waseda University, Japan
  • CFPはこちら
  • [参加登録] 11/13 [満員御礼] おかげさまで講習会、ハッカソン共に定員に達しました
  • 講習会最新情報
• Dec. 6th, 2017, the 4th HARK hackathon (第4回 HARK ハッカソン) will be held at Waseda University
  • CFPはこちら
  • 参加登録は上記の講習会の参加登録内でお願いします。
  • ハッカソン最新情報
• Sep. 16th, 2017, HARKBird: GUI for bird song analysis GUI based on HARK developed by Suzuki et al., Nagoya Univ.
• Aug. 25th, 2017, HARK 2.3.1 released
  • New features
    • Add utility nodes: harkfd
    • Bug fix
• Aug. 10th, 2017: SupportedHardware is updated.
• Apr. 11th, 2017: HARK Automatic Speech Recognition Pack (HARK音声認識セット) is updated(version 2.3.0.1)
• Apr. 11th, 2017: HARK 2.3.0 is updated
  • Bug fix, feature improvement: HARK Designer, KaldiDecoder-hark, harkfd
  • From this time, we only release deb package for amd64 architecture.

• Dec. 6th, 2016, HARK 2.3.0 released
  • New features
    • HARK can send ASR features to Kaldi (A DNN-based ASR toolkit)
    • HARK Designer: bug fix and new features (local file access and so on)
    • HARK Python is now available on Windows

• Dec. 6th, 2016, The 13th Tutorial on Open Source Robot Audition Software HARK will be held at Waseda University, Japan CFP

• Dec. 7th, 2016, the 3rd HARK hackathon will be held at Waseda University CFP

• Jun. 20th, 2016: HARK for Windows is updated (version 2.2.0)
  • Bug fix: TF generation with geometric calculation. (occurred only on Windows)

• Mar 10th, 2016, We add a transfer function file for a microphone array TAMAGO-01 in SupportedHardware.

• Feb 1st, 2016, Honda Research Institute Japan started an experiment of a cloud service of HARK HARK SaaS. until June 30th 2016.

• Nov 11th, 2015 HARK 2.2.0 released

• Nov. 10th, 2015, The 12th Tutorial on Open Source Robot Audition Software HARK will be held at Waseda University, Japan CFP 講習会最新情報
  • 開催場所が変更になりました。 変更後：　「西早稲田キャンパス 55 号館 S 第 4 会議室」

• Nov. 11th, 2015, the 2nd HARK hackathon will be held at Waseda University CFP ハッカソン最新情報
  • 開催場所が変更になりました。 変更後：　「西早稲田キャンパス 55 号館 S 第 4 会議室」

• Aug. 5th, 2015: HARK for Windows is updated (version 2.1.2)
  • Bug workaround: Current version of HARK Designer does not work the latest nodejs (0.12). Please install node 0.10 until the bug is fixed.

• Jul. 7th, 2015: HARK for Windows is updated (version 2.1.2)
  • Bug fix: TF generation with geometric calculation. (occurred only on Windows)

• Mar. 6th, 2015: HARK for Windows is updated (version 2.1.1)
  • Bug fix: LocalizeMUSIC, GHDSS, HarkDataStreamSender
  • Version 2.1.1 for Linux will be released soon.

• Dec. 18th, 2014, the 1st HARK hackathon was held at Waseda University CFP, ハッカソン最新情報
• Nov. 19th, 2014, The 11th Tutorial on Open Source Robot Audition Software HARK was held at Waseda University, Japan CFP, 講習会最新情報
• Nov. 19th, 2014, "HARK 2.1" released.
  • New features
    • The file format and file I/O APIs are simplified. See libharkio3+FAQ or file formats (ja) or file formats (en)
    • HARK-EgoNoiseEstimation package is added. Find the document at Documents page.
  • You can download HARK 2.1 for Ubuntu, HARK 2.1 for Windows , new documents (pdf&HTML), tutorial videos, and sample files samples-hark-2_1_0.tar.gz
• Dec. 20th, 2013, Sample files for HARK 2.0 and corresponding HARK Cookbook parts are updated. HARK Document
• Dec. 5th, 2013, The 10th HARK Tutorial will be held at Waseda University, Japan. CFP
• Dec. 5th, 2013, "HARK 2.0" released.
  • You can download HARK 2.0 for Ubuntu, HARK 2.0 for Windows , new documents (pdf&HTML), tutorial videos, and sample files
• Oct. 20th, 2013, HARK is introduced by Bob Igo, "Open Senses: Open Source Robotics Software for non-Robotic Uses" (URL, slides)
• Oct. 2nd, 2013, HARK 1.9.9 released.
  • New features: HARK 1.9.9 for Ubuntu, HARK 1.9.9 for Windows , new documents (pdf&HTML), tutorial videos, and sample files
• Oct. 2nd, 2013, The 9th HARK Tutorial will be held at LAAS, Toulouse, France. CFP
• Mar. 15th, 2013, HARK 1.2.0 released.
  • New features: HARK for Windows , new documents (pdf&HTML), tutorial videos, and sample files, Source Code Download
• Mar. 19th, 2013, The 8th Tutorial on Open Source Robot Audition Software HARK will be held at Kyoto Univ., Kyoto, Japan http://www.hark.jp/8th-HARK-tutorial-CFP.pdf
• Jun. 22nd 2012, HARK 1.1.1 released for Ubuntu 12.04 Precise.
• Mar. 21st 2012, documents for HARK 1.1.0 released.
• Feb. 29th 2012, HARK 1.1.0 released.
• Mar. 9th, 2012, The 7th Tutorial on Open Source Robot Audition Software HARK will be held at Nagoya Institute of Technology, Nagoya, Japan http://www.hark.jp/7th-HARK-tutorial-CFP.pdf
  • The place of the tutorial has been changed to Nagoya University. Please download the CFP again for details.
  • 3月9日の HARK講習会の場所が名古屋大学に変更になりました。場所などの詳細情報は CFP をご覧ください。
• Feb. 29th 2012, The 6th Tutorial on Open Source Robot Audition Software HARK will be held at UPMC, Paris, France.
• Nov. 25th 2010, HARK 1.0.0 released

HARK

 Honda Research Institute Japan Audition for Robots with Kyoto University (HARK)

HARK is open-sourced robot audition software consisting of sound source localization modules, sound source separation modules and automatic speech recognition modules of separated speech signals that work on any robot with any microphone configuration.

Since a robot with ears may be deployed to various auditory environments, the robot audition system should provide an easy way to adapt to them. HARK provides a set of modules to cope with various auditory environments by using an open-sourced middleware, FlowDesigner and reduces the overheads of data transfer between modules.

HARK has been open-sourced since April 2008. The resulting implementation of HARK with MUSIC-based sound source localization, GHDSS-based sound source separation and Missing-Feature-Theory-based
automatic speech recognition (ASR) on several robots like HRP-2, SIG, SIG2, and Robovie R2 attains recognizing three simultaneous utterances in real time.

 Features

HARK consists of a lot of modules for robot audition. These modules are implemented as a module for FlowDesigner, and some modules are based on ManyEars. ManyEars provides microphone array processing to perform sound source localization, tracking, and separation.

• Audio Signal Input
• Sound Source Localization
• Sound Source Separation
• Acoustic Feature Extraction
• Automatic Missing Feature Mask Generation
• Speech Recognition Client

 Download and Installation

The Installation instruction for HARK is available here.

Other additional packages are also available.

1. HARK-KINECT
2. HARK-ROS Installation Instructions
3. HARK-BINAURAL Installation Instructions
4. HARK-MUSIC Installation Instructions
5. HARK-Python

See SupportedHardware for the microphone arrays supported by HARK.

 Related Works and Projects

• Dataflow-oriented GUI programming environment (middleware) Flowdesigner
• Another robot audition project for Flowdesinger ManyEars
• Open-Source Large Vocabulary CSR Engine Julius
• Linux distribution Ubuntu
• Advanced Linux Sound Architecture ALSA
• Hidden Markov Toolkit HTK
• The RESPITE CASA Toolkit Project CTK

• Robot Audition Project