Honda Research Institute Japan Audition for Robots With Kyoto University

What is 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.

Let's Start HARK Download / Install

  • For Windwos Users
  • For Linux Users


July 11, 2018

Our proposal for tutorial on HARK has been accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) in Madrid, Spain.

See call for participation

April 10, 2018

HARK web site renewal!
The previous web site is here.

December 05, 2017

HARK 2.4.0 released

    • New features
      • Add MVDR node: hark-sss
      • Add HARKTOOL5-GUI

December 04, 2017

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


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。

September 16, 2017

HARKBird: GUI for bird song analysis GUI based on HARK developed by Suzuki et al., Nagoya Univ.

August 25, 2017

HARK 2.3.1 released

  • New features
    • Add utility nodes: harkfd
    • Bug fix

August 10, 2017

SupportedHardware is updated.

April 11, 2017

HARK Automatic Speech Recognition Pack (HARK音声認識セット) is updated(version

April 11, 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.

December 06, 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


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