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


September 08, 2021

第20回 HARK 講習会のお知らせ

2021/11/27 (土) 10:00-18:00 に同日リリース予定のHARK3.3の無料講習会をオンラインで開催します。


December 22, 2020

IJCAI-PRICAI 2020 tutorial on HARK (19th HARK tutorial)

It was finally announced that HARK tutorial at IJCAI-PRICAI 2020 will be held on January 8, 2021 (18:40-22:00 in JST, 9:40-13:00 in UTC)
See this link for details.

IJCAI-PRICAI 2020 tutorial on HARK was done.

The videos were available here.

September 18, 2020

第18回 HARK 講習会のお知らせ

2020/11/21 (土) 14:00-18:30 に同日リリース予定のHARK3.2の無料講習会をオンラインで開催します。


August 20, 2019






September 16, 2018

第16回 HARK 講習会&第5回HARK Hackathon 開催のお知らせ

12 月4日(火)早稲田大学にて,第16回HARK講習会を開催します。詳細はこちら

12月5日(水)早稲田大学にて,第5回HARK ハッカソンを開催します。詳細はこちら





September 14, 2018

The room for HARK Tutorial at IEEE/RSJ IROS 2018 was fixed to Room 4.R2.
See here for more detail.

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


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