Two new approaches to synthesizing speech with appropriate prosody

Methods share a two-stage training process in which a model learns a representation from audio data, then learns to predict that representation from text.

At ICASSP 2021, the Amazon text-to-speech team presented two new papers about synthesizing speech from text with contextually appropriate prosody — the rhythm, emphasis, melody, duration, and loudness of speech.

Text-to-speech (TTS) is a one-to-many problem where a single piece of text may have more than one appropriate prosodic rendition. Determining the prosody of a piece of text is a non-trivial problem, but it can increase the naturalness of synthesized speech considerably.

The approaches we describe in the two papers share a general philosophy, but the ways in which they tackle the problem are fundamentally different. 

Kathaka-TTSModel.png
The Kathaka architecture, with separate encoders for spectrogram and phoneme sequence inputs.

One of our papers, “Prosodic representation learning and contextual sampling for neural text-to-speech”, introduces Kathaka, a model trained using a novel two-stage approach. In the first stage, the model learns a distribution of the prosody of all the speech samples in the training data by exploiting a variational learning approach. In stage two, the model learns to sample from this distribution based on semantic and syntactic characteristics of the texts associated with the speech samples.

According to listener studies using the industry-standard MUSHRA (multiple stimuli with hidden reference and anchor) methodology, the speech produced by Kathaka improved over the baseline TTS model by 13.2% in terms of naturalness.

The other paper, “CAMP: A two-stage approach to modelling prosody in context”, introduces CAMP, the context-aware model of prosody. Like Kathaka, CAMP is trained using a two-stage approach. In the first stage, CAMP learns a representation of prosody for every word of each speech sample in the training data in a non-variational way. In stage two, the model learns to predict these learned representations based on the semantic and syntactic characteristics of the associated texts. 

According listener studies with MUSHRA evaluations, the speech produced by CAMP improved over the baseline TTS model by 26% in terms of naturalness. 

Kathaka

Since TTS is a one-to-many problem, where the same text can be said in different ways, TTS models often synthesize speech with neutral prosody. This decreases the naturalness of synthesized speech, as there is no relation between the prosody and what is being said. 

Kathaka’s two-stage learning approach tackles this problem by exploiting the semantics and syntax of the text. The Kathaka architecture has two encoders: one, the reference encoder, takes a mel-spectrogram (a snapshot of the frequency spectrum) of the speech signal as input; the other takes the associated text, represented as a sequence of phonemes, the smallest units of speech. 

Based on the mel-spectrogram, the reference encoder outputs the parameters of a prosody distribution (the mean and variance, µ and σ in the diagram above), and a sample is selected from that distribution. This sample, along with the phoneme encoding, is used to synthesize a new mel-spectrogram. The model is an autoencoder, meaning that it’s trained to output the same mel-spectrogram given to the reference encoder as input.

At inference time, of course, mel-spectrograms aren’t available as input, as they are to be synthesized. Thus, in step two, we train “Samplers”, which predict the parameters of the prosody distribution directly from the text.

Kathaka sampler.png
The architecture of the Kathaka sampler, which factors in both semantic information from BERT embeddings and syntactic information from parse trees.

To encode the text, we use a BERT model, which is pretrained to provide contextual word embeddings — representations of words as vectors in a multidimensional space — that capture semantic and some syntactic information about the text. We also apply graph neural networks to syntax parse trees of the text, to produce representations of just the texts’ syntactic information. 

From these representations, the Sampler learns to predict the parameters of the prosody distribution. At inference time, a sample from this distribution is used in place of the sampled point from the reference encoder to synthesize the mel-spectrogram.

In order to evaluate the efficacy of Kathaka, we compared it to our neural-text-to-speech (NTTS) baseline and showed a statistically significant 13.2% increase in naturalness. 

CAMP

CAMP uses a similar two-step approach to training, but instead of learning a distribution of prosodies, it learns specific mappings between individual words and prosodic representations, conditioned on semantic and syntactic features of the text.

In stage one, CAMP learns word-level representations of prosody using a word-level reference encoder. This encoder takes a mel-spectrogram as input and produces a word-level representation of the speech sample’s prosody. This word-level representation is then aligned with the phonemes that constitute the word, which, again, are encoded by a separate encoder. Both sets of features are then used to synthesize a mel-spectrogram as output, and the training target is the same mel-spectrogram that the reference encoder took as input. Through this process, CAMP learns word-level prosodic representations. 

CAMP architecture.png
During training (left), CAMP, like Kathaka, learns a prosody representation through the reference encoder and learns to predict that representation from the syntactic and semantic content of the input text. At inference, it replaces the prosody representations from the reference encoder (center) with representations predicted from the syntactic and semantic content of the input text (right).

In stage two, CAMP uses semantic and syntactic information from the input texts to predict the word-level prosody representations learned in stage one. To encode the text, we again use BERT embeddings, and we also use word-level syntax tags such as (1) part of speech (POS); (2) word class (“open” words such as nouns or verbs, which can proliferate indefinitely, versus “closed” words such as pronouns and articles, which are fixed and limited); (3) noun structure; and (4) punctuation structure. This information is then used to predict the word-level prosody representations learned in stage one. 

As with Kathaka, during inference, we replace the prosody representations from the reference encoder with the representations predicted from the syntactic and semantic content of the input text. 

Compared to our NTTS baseline, CAMP showed a statistically significant 26% increase in naturalness. 

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Amazon is seeking exceptional talent to help develop the next generation of advanced robotics systems that will transform automation at Amazon's scale. We're building revolutionary robotic systems that combine cutting-edge AI, sophisticated control systems, and advanced mechanical design to create adaptable automation solutions capable of working safely alongside humans in dynamic environments. This is a unique opportunity to shape the future of robotics and automation at unprecedented scale, working with world-class teams pushing the boundaries of what's possible in robotic manipulation, locomotion, and human-robot interaction. This role presents an opportunity to shape the future of robotics through innovative applications of deep learning and large language models. The ideal candidate will contribute to research that bridges the gap between theoretical advancement and practical implementation in robotics. You will be part of a team that's revolutionizing how robots learn, adapt, and interact with their environment. Join us in building the next generation of intelligent robotics systems that will transform the future of automation and human-robot collaboration. As an Applied Scientist, you will develop and improve machine learning systems that help robots perceive, reason, and act in real-world environments. You will leverage state-of-the-art models (open source and internal research), evaluate them on representative tasks, and adapt/optimize them to meet robustness, safety, and performance needs. You will invent new algorithms where gaps exist. You’ll collaborate closely with research, controls, hardware, and product-facing teams, and your outputs will be used by downstream teams to further customize and deploy on specific robot embodiments. Key job responsibilities As an Applied Scientist in the Foundations Model team, you will: - Leverage state-of-the-art models for targeted tasks, environments, and robot embodiments through fine-tuning and optimization. - Execute rapid, rigorous experimentation with reproducible results and solid engineering practices, closing the gap between sim and real environments. - Build and run capability evaluations/benchmarks to clearly profile performance, generalization, and failure modes. - Contribute to the data and training workflow: collection/curation, dataset quality/provenance, and repeatable training recipes. - Write clean, maintainable, well commented and documented code, contribute to training infrastructure, create tools for model evaluation and testing, and implement necessary APIs - Stay current with latest developments in foundation models and robotics, assist in literature reviews and research documentation, prepare technical reports and presentations, and contribute to research discussions and brainstorming sessions. - Work closely with senior scientists, engineers, and leaders across multiple teams, participate in knowledge sharing, support integration efforts with robotics hardware teams, and help document best practices and methodologies. About the team We leverage advanced robotics, machine learning, and artificial intelligence to solve complex operational challenges at unprecedented scale. Our fleet of robots operates across hundreds of facilities worldwide, working in sophisticated coordination to fulfill our mission of customer excellence. We are pioneering the development of robotics foundation models that: - Enable unprecedented generalization across diverse tasks - Integrate multi-modal learning capabilities (visual, tactile, linguistic) - Accelerate skill acquisition through demonstration learning - Enhance robotic perception and environmental understanding - Streamline development processes through reusable capabilities
US, CA, San Francisco
Amazon is seeking an exceptional Sr. Applied Scientist to lead the development of perception systems that harness the power of radar and thermal imaging — enabling robots to perceive and operate reliably in conditions where conventional vision alone falls short. In this role, you will develop ML-driven perception pipelines for non-traditional sensing modalities, pushing the boundaries of what robots can see, understand, and act upon in challenging real-world environments. At Amazon, we leverage advanced robotics, machine learning, and artificial intelligence to solve some of the most complex operational challenges at a scale unlike anywhere else in the world. Our fleet of robots spans hundreds of facilities globally, working in sophisticated coordination to deliver on our promise of customer excellence. As a Sr. Applied Scientist in Multi-Modal Perception, you will apply deep computer vision expertise alongside classical signal processing techniques for radar and thermal imaging — modalities that provide robustness in adverse conditions and sensing capability beyond the visible spectrum. You will develop ML-based methods to extract semantic and geometric information from radar point clouds, radar tensors, and thermal imagery, and fuse these with camera and depth data to build perception systems that are reliable, comprehensive, and ready for deployment at scale. Your work will unlock new capabilities for our robots — enabling reliable detection, classification, and scene understanding in low-visibility conditions, cluttered environments, and scenarios where traditional RGB-based perception is insufficient. You will lead research that translates cutting-edge advances in deep learning and computer vision to these underexplored but high-impact sensing modalities. Join us in building the next generation of multi-modal perception systems that will define the future of autonomous robotics at scale. Key job responsibilities - Lead the research, design, and development of ML-based perception pipelines for radar and thermal/infrared imaging modalities - Develop deep learning models for object detection, classification, segmentation, and tracking using radar data (point clouds, range-Doppler maps, radar tensors) and thermal imagery - Design and implement multi-modal fusion architectures that combine radar, thermal, camera, and depth data for robust, all-condition perception - Develop novel representations and feature extraction methods tailored to the unique characteristics of radar and thermal sensors (sparsity, noise profiles, spectral properties) - Build end-to-end perception systems — from raw sensor data processing and calibration to model training, evaluation, and real-time deployment - Collaborate closely with Hardware, Navigation, Planning, and Controls teams to define sensor configurations and deliver integrated autonomy solutions - Establish benchmarks, datasets, and evaluation frameworks for radar and thermal perception - Mentor scientists and engineers; foster a culture of scientific rigor, innovation, and high-impact delivery - Publish research findings in top-tier venues (CVPR, ICCV, ECCV, ICRA, NeurIPS, etc.) and contribute to patents A day in the life - Train ML models for deployment in simulation and real-world robots, identify and document their limitations post-deployment - Drive technical discussions within your team and with key stakeholders to develop innovative solutions to address identified limitations - Actively contribute to brainstorming sessions on adjacent topics, bringing fresh perspectives that help peers grow and succeed — and in doing so, build lasting trust across the team - Mentor team members while maintaining significant hands-on contribution to technical solutions About the team Our team is a diverse group of scientists and engineers passionate about building intelligent machines. We value curiosity, rigor, and a bias for action. We believe in learning from failure and iterating quickly toward solutions that matter.