Speech Recognition for the iCub Platform.

This paper describes open source software (available at https://github.com/robotology/natural-speech) to build automatic speech recognition (ASR) systems and run them within the YARP platform. The toolkit is designed (i) to allow non-ASR experts to easily create their own ASR system and run it on iCub and (ii) to build deep learning-based models specifically addressing the main challenges an ASR system faces in the context of verbal human-iCub interactions.