ESPnet: end-to-end speech processing toolkit
ESPnet is an end-to-end speech processing toolkit, mainly focuses on end-to-end speech recognition and end-to-end text-to-speech. ESPnet uses chainer and pytorch as a main deep learning engine, and also follows Kaldi style data processing, feature extraction/format, and recipes to provide a complete setup for speech recognition and other speech processing experiments.
- Key Features
- Requirements
- Installation
- Execution of example scripts
- Known issues
- Docker Container
- Results and demo
- Chainer and Pytorch backends
- References
- Citation
Key Features
- Hybrid CTC/attention based end-to-end ASR
- Fast/accurate training with CTC/attention multitask training
- CTC/attention joint decoding to boost monotonic alignment decoding
- Encoder: VGG-like CNN + BiRNN (LSTM/GRU), sub-sampling BiRNN (LSTM/GRU) or Transformer
- Attention: Dot product, location-aware attention, variants of multihead
- Incorporate RNNLM/LSTMLM trained only with text data
- Batch GPU decoding
- Tacotron2 based end-to-end TTS
- Transformer based end-to-end TTS
- Feed-forward Transformer (a.k.a. FastSpeech) based end-to-end TTS (new!)
- Flexible network architecture thanks to chainer and pytorch
- Kaldi style complete recipe
- Support numbers of ASR recipes (WSJ, Switchboard, CHiME-4/5, Librispeech, TED, CSJ, AMI, HKUST, Voxforge, REVERB, etc.)
- Support numbers of TTS recipes with a similar manner to the ASR recipe (LJSpeech, LibriTTS, M-AILABS, etc.)
- Support speech translation recipes (Fisher callhome Spanish to English, IWSLT'18)
- Support speech separation and recognition recipe (WSJ-2mix)
- State-of-the-art performance in several benchmarks (comparable/superior to hybrid DNN/HMM and CTC)
- Flexible front-end processing thanks to kaldiio and HDF5 support
- Tensorboard based monitoring
Requirements
- Python 3.6.1+
- gcc 4.9+ for PyTorch1.0.0+
- protocol buffer
- For the sentencepiece, you need to install via package manager e.g.
sudo apt-get install libprotobuf9v5 protobuf-compiler libprotobuf-dev
.
See detailsInstallation
of https://github.com/google/sentencepiece/blob/master/README.md
- For the sentencepiece, you need to install via package manager e.g.
- libsndfile
- For the soundfile, you need to install via package manager e.g.
sudo apt-get install libsndfile1-dev
.
- For the soundfile, you need to install via package manager e.g.
Optionally, GPU environment requires the following libraries:
- Cuda 8.0, 9.0, 9.1, 10.0 depending on each DNN library
- Cudnn 6+, 7+
- NCCL 2.0+ (for the use of multi-GPUs)
Installation
Step 1) setting of the environment for GPU support
To use cuda (and cudnn), make sure to set paths in your .bashrc
or .bash_profile
appropriately.
CUDAROOT=/path/to/cuda
export PATH=$CUDAROOT/bin:$PATH
export LD_LIBRARY_PATH=$CUDAROOT/lib64:$LD_LIBRARY_PATH
export CFLAGS="-I$CUDAROOT/include $CFLAGS"
export CUDA_HOME=$CUDAROOT
export CUDA_PATH=$CUDAROOT
If you want to use multiple GPUs, you should install nccl
and set paths in your .bashrc
or .bash_profile
appropriately, for example:
CUDAROOT=/path/to/cuda
NCCL_ROOT=/path/to/nccl
export CPATH=$NCCL_ROOT/include:$CPATH
export LD_LIBRARY_PATH=$NCCL_ROOT/lib/:$CUDAROOT/lib64:$LD_LIBRARY_PATH
export LIBRARY_PATH=$NCCL_ROOT/lib/:$LIBRARY_PATH
export CFLAGS="-I$CUDAROOT/include $CFLAGS"
export CUDA_HOME=$CUDAROOT
export CUDA_PATH=$CUDAROOT
Step 2-A) installation with compiled Kaldi
using miniconda (default)
Install Python libraries and other required tools with miniconda
$ cd tools
$ make KALDI=/path/to/kaldi
You can also specify the Python (PYTHON_VERSION
default 3.7), PyTorch (TH_VERSION
default 1.0.0) and CUDA versions (CUDA_VERSION
default 10.0), for example:
$ cd tools
$ make KALDI=/path/to/kaldi PYTHON_VERSION=3.6 TH_VERSION=0.4.1 CUDA_VERSION=9.0
using existing python
If you do not want to use miniconda, you need to specify your python interpreter to setup virtualenv
$ cd tools
$ make KALDI=/path/to/kaldi PYTHON=/usr/bin/python3.6
Step 2-B) installation including Kaldi installation
Install Kaldi, Python libraries and other required tools with miniconda
$ cd tools
$ make -j 10
As seen above, you can also specify the Python and CUDA versions, and Python path (based on virtualenv
), for example:
$ cd tools
$ make -j 10 PYTHON_VERSION=3.6 TH_VERSION=0.4.1 CUDA_VERSION=9.0
$ cd tools
$ make -j 10 PYTHON=/usr/bin/python3.6
Step 2-C) installation for CPU-only
To install in a terminal that does not have a GPU installed, just clear the version of CUPY
as follows:
$ cd tools
$ make CUPY_VERSION='' -j 10
This option is enabled for any of the install configuration.
Step 3) installation check
You can check whether the install is succeeded via the following commands
$ cd tools
$ make check_install
or make check_install CUPY_VERSION=''
if you do not have a GPU on your terminal.
If you have no warning, ready to run the recipe!
If there are some problems in python libraries, you can re-setup only python environment via following commands
$ cd tools
$ make clean_python
$ make python
Execution of example scripts
Move to an example directory under the egs
directory.
We prepare several major ASR benchmarks including WSJ, CHiME-4, and TED.
The following directory is an example of performing ASR experiment with the CMU Census Database (AN4) recipe.
$ cd egs/an4/asr1
Once move to the directory, then, execute the following main script with a chainer backend:
$ ./run.sh --backend chainer
or execute the following main script with a pytorch backend:
$ ./run.sh --backend pytorch
With this main script, you can perform a full procedure of ASR experiments including
- Data download
- Data preparation (Kaldi style, see http://kaldi-asr.org/doc/data_prep.html)
- Feature extraction (Kaldi style, see http://kaldi-asr.org/doc/feat.html)
- Dictionary and JSON format data preparation
- Training based on chainer or pytorch.
- Recognition and scoring
The training progress (loss and accuracy for training and validation data) can be monitored with the following command
$ tail -f exp/${expdir}/train.log
When we use ./run.sh --verbose 0
(--verbose 0
is default in most recipes), it gives you the following information
epoch iteration main/loss main/loss_ctc main/loss_att validation/main/loss validation/main/loss_ctc validation/main/loss_att main/acc validation/main/acc elapsed_time eps
:
:
6 89700 63.7861 83.8041 43.768 0.731425 136184 1e-08
6 89800 71.5186 93.9897 49.0475 0.72843 136320 1e-08
6 89900 72.1616 94.3773 49.9459 0.730052 136473 1e-08
7 90000 64.2985 84.4583 44.1386 72.506 94.9823 50.0296 0.740617 0.72476 137936 1e-08
7 90100 81.6931 106.74 56.6462 0.733486 138049 1e-08
7 90200 74.6084 97.5268 51.6901 0.731593 138175 1e-08
total [#################.................................] 35.54%
this epoch [#####.............................................] 10.84%
91300 iter, 7 epoch / 20 epochs
0.71428 iters/sec. Estimated time to finish: 2 days, 16:23:34.613215.
Note that the an4 recipe uses --verbose 1
as default since this recipe is often used for a debugging purpose.
In addition Tensorboard events are automatically logged in the tensorboard/${expname}
folder. Therefore, when you install Tensorboard, you can easily compare several experiments by using
$ tensorboard --logdir tensorboard
and connecting to the given address (default : localhost:6006). This will provide the following information:
Note that we would not include the installation of Tensorboard to simplify our installation process. Please install it manually (
pip install tensorflow; pip install tensorboard
) when you want to use Tensorboard.
Use of GPU
- Training:
If you want to use GPUs in your experiment, please set
--ngpu
option inrun.sh
appropriately, e.g.,# use single gpu $ ./run.sh --ngpu 1 # use multi-gpu $ ./run.sh --ngpu 3 # if you want to specify gpus, set CUDA_VISIBLE_DEVICES as follows # (Note that if you use slurm, this specification is not needed) $ CUDA_VISIBLE_DEVICES=0,1,2 ./run.sh --ngpu 3 # use cpu $ ./run.sh --ngpu 0
- Default setup uses a single GPU (
--ngpu 1
).
- Default setup uses a single GPU (
- ASR decoding:
ESPnet also supports the GPU-based decoding for fast recognition.
- Please manually remove the following lines in
run.sh
:#### use CPU for decoding ngpu=0
- Set 1 or more values for
--batchsize
option inasr_recog.py
to enable GPU decoding - And execute the script (e.g.,
run.sh --stage 5 --ngpu 1
) - You'll achieve significant speed improvement by using the GPU decoding
- Please manually remove the following lines in
- Note that if you want to use multi-gpu, the installation of nccl is required before setup.
Changing the configuration
The default configurations for training and decoding are written in conf/train.yaml
and conf/decode.yaml
respectively. It can be overwritten by specific arguments: e.g.
# e.g.
asr_train.py --config conf/train.yaml --batch-size 24
# e.g.--config2 and --config3 are also provided and the latter option can overwrite the former.
asr_train.py --config conf/train.yaml --config2 conf/new.yaml
In this way, you need to edit run.sh
and it might be inconvenient sometimes.
Instead of giving arguments directly, we recommend you to modify the yaml file and give it to run.sh
:
# e.g.
./run.sh --train-config conf/train_modified.yaml
# e.g.
./run.sh --train-config conf/train_modified.yaml --decode-config conf/decode_modified.yaml
We also provide a utility to generate a yaml file from the input yaml file:
# e.g. You can give any parameters as '-a key=value' and '-a' is repeatable.
# This generates new file at 'conf/train_batch-size24_epochs10.yaml'
./run.sh --train-config $(change_yaml.py conf/train.yaml -a batch-size=24 -a epochs=10)
# e.g. '-o' option specifies the output file name instead of auto named file.
./run.sh --train-config $(change_yaml.py conf/train.yaml -o conf/train2.yaml -a batch-size=24)
How to set minibatch
From espnet v0.4.0, we have three options in --batch-count
to specify minibatch size (see espnet.utils.batchfy
for implementation);
-
--batch-count seq --batch-seqs 32 --batch-seq-maxlen-in 800 --batch-seq-maxlen-out 150
.This option is compatible to the old setting before v0.4.0. This counts the minibatch size as the number of sequences and reduces the size when the maximum length of the input or output sequences is greater than 800 or 150, respectively.
-
--batch-count bin --batch-bins 100000
.This creates the minibatch that has the maximum number of bins under 100 in the padded input/output minibatch tensor (i.e.,
max(ilen) * idim + max(olen) * odim
). Basically, this option makes training iteration faster than--batch-count seq
. If you already has the best--batch-seqs x
config, try--batch-bins $((x * (mean(ilen) * idim + mean(olen) * odim)))
. -
--batch-count frame --batch-frames-in 800 --batch-frames-out 100 --batch-frames-inout 900
.This creates the minibatch that has the maximum number of input, output and input+output frames under 800, 100 and 900, respectively. You can set one of
--batch-frames-xxx
partially. Like--batch-bins
, this option makes training iteration faster than--batch-count seq
. If you already has the best--batch-seqs x
config, try--batch-frames-in $((x * (mean(ilen) * idim)) --batch-frames-out $((x * mean(olen) * odim))
.
Setup in your cluster
Change cmd.sh
according to your cluster setup.
If you run experiments with your local machine, please use default cmd.sh
.
For more information about cmd.sh
see http://kaldi-asr.org/doc/queue.html.
It supports Grid Engine (queue.pl
), SLURM (slurm.pl
), etc.
CTC, attention, and hybrid CTC/attention
ESPnet can completely switch the mode from CTC, attention, and hybrid CTC/attention
# hybrid CTC/attention (default)
# --mtlalpha 0.5 and --ctc_weight 0.3 in most cases
$ ./run.sh
# CTC mode
$ ./run.sh --mtlalpha 1.0 --ctc_weight 1.0 --recog_model model.loss.best
# attention mode
$ ./run.sh --mtlalpha 0.0 --ctc_weight 0.0
The CTC training mode does not output the validation accuracy, and the optimum model is selected with its loss value
(i.e., --recog_model model.loss.best
).
About the effectiveness of the hybrid CTC/attention during training and recognition, see [2] and [3].
Known issues
Error due to ACS (Multiple GPUs)
When using multiple GPUs, if the training freezes or lower performance than expected is observed, verify that PCI Express Access Control Services (ACS) are disabled. Larger discussions can be found at: link1 link2 link3. To disable the PCI Express ACS follow instructions written here. You need to have a ROOT user access or request to your administrator for it.
Error due to matplotlib
If you have the following error (or other numpy related errors),
RuntimeError: module compiled against API version 0xc but this version of numpy is 0xb
Exception in main training loop: numpy.core.multiarray failed to import
Traceback (most recent call last):
;
:
from . import _path, rcParams
ImportError: numpy.core.multiarray failed to import
Then, please reinstall matplotlib with the following command:
$ cd egs/an4/asr1
$ . ./path.sh
$ pip install pip --upgrade; pip uninstall matplotlib; pip --no-cache-dir install matplotlib
Docker Container
go to docker/ and follow README.md instructions there.
Results and demo
ASR results
We list the character error rate (CER) and word error rate (WER) of major ASR tasks.
CER (%) | WER (%) | Pretrained model | |
---|---|---|---|
Aishell dev | 6.0 | N/A | link |
Aishell test | 6.7 | N/A | same as above |
Common Voice dev | 1.7 | 2.2 | link |
Common Voice test | 1.8 | 2.3 | same as above |
CSJ eval1 | 5.7 | N/A | N/A |
CSJ eval2 | 4.1 | N/A | N/A |
CSJ eval3 | 4.5 | N/A | N/A |
HKUST dev | 23.5 | N/A | link |
Librispeech dev_clean | N/A | 2.2 | link |
Librispeech dev_other | N/A | 5.6 | same as above |
Librispeech test_clean | N/A | 2.6 | same as above |
Librispeech test_other | N/A | 5.7 | same as above |
TEDLIUM2 dev | N/A | 9.3 | link |
TEDLIUM2 test | N/A | 8.1 | same as above |
TEDLIUM3 dev | N/A | 9.7 | link |
TEDLIUM3 test | N/A | 8.0 | same as above |
WSJ dev93 | 3.2 | 7.0 | N/A |
WSJ eval92 | 2.1 | 4.7 | N/A |
Note that the performance of the CSJ, HKUST, and Librispeech tasks was significantly improved by using the wide network (#units = 1024) and large subword units if necessary reported by RWTH.
If you want to check the results of the other recipes, please check egs/<name_of_recipe>/asr1/RESULTS.md
.
ASR demo
You can recognize speech in a WAV file using pretrained models.
Go to a recipe directory and run utils/recog_wav.sh
as follows:
cd egs/tedlium2/asr1
../../../utils/recog_wav.sh --models tedlium2.transformer.v1 example.wav
where example.wav
is a WAV file to be recognized.
The sampling rate must be consistent with that of data used in training.
Available pretrained models are listed as below.
Model | Notes |
---|---|
tedlium2.rnn.v1 | Streaming decoding based on CTC-based VAD |
tedlium2.rnn.v2 | Streaming decoding based on CTC-based VAD (batch decoding) |
tedlium2.transformer.v1 | Joint-CTC attention Transformer trained on Tedlium 2 |
tedlium3.transformer.v1 | Joint-CTC attention Transformer trained on Tedlium 3 |
librispeech.transformer.v1 | Joint-CTC attention Transformer trained on Librispeech |
commonvoice.transformer.v1 | Joint-CTC attention Transformer trained on CommonVoice |
TTS results
You can listen to our samples in demo HP espnet-tts-sample. If you want to check more and more samples, please access our google drive from our google drive.
Here we list some notable ones:
- Single English speaker Tacotron2
- Single Japanese speaker Tacotron2
- Single other language speaker Tacotron2
- Multi English speaker Tacotron2
- Single English speaker Transformer
- Single English speaker FastSpeech
- Multi English speaker Tranformer
- Single Italian speaker FastSpeech
- Single Mandarin speaker Transformer
- Single Mandarin speaker FastSpeech (New!)
- Multi Japanese speaker Transformer (New!)
Note that the most of the samples in googlg drive uses Griffin-Lim Algorithm to convert wav. You can listen to WaveNet vocoder samples in our demo HP.
All of the pretrained models which generate the above samples are also available in our google drive.
TTS demo
You can synthesize speech in a TXT file using pretrained models.
Go to a recipe directory and run utils/synth_wav.sh
as follows:
cd egs/ljspeech/tts1
echo "THIS IS A DEMONSTRATION OF TEXT TO SPEECH." > example.txt
../../../utils/synth_wav.sh example.txt
You can change the pretrained model as follows:
../../../utils/synth_wav.sh --models ljspeech.tacotron2.v1 example.txt
Available pretrained models are listed as follows:
Model | Notes |
---|---|
libritts.tacotron2.v1 | Multi-speaker Tacotron 2 with reduction factor = 2 |
ljspeech.tacotron2.v1 | Tactoron 2 with reduction factor = 2 |
ljspeech.tacotron2.v2 | Tacotron 2 with forward attention |
ljspeech.tacotron2.v3 | Tacotron 2 with guided attention loss |
ljspeech.transformer.v1 | Deep Transformer |
ljspeech.transformer.v2 | Shallow Transformer with reduction factor = 3 |
ljspeech.transformer.v3 (New!) | Deep Transformer (phoneme input) |
ljspeech.fastspeech.v1 | Feed-forward Transformer with position-wise FFN |
ljspeech.fastspeech.v2 | Feed-forward Transformer with CNN instead of position-wise FFN |
ljspeech.fastspeech.v3 (New!) | Feed-forward Transformer with CNN instead of position-wise FFN and postnet (phoneme input) |
libritts.transformer.v1 (New!) | Multi-speaker Transformer with reduction factor = 2 |
jsut.tacotron2 (New!) | Tacotron 2 ith reduction factor = 2, phoneme input |
jsut.transformer (New!) | Transformer with reduction factor = 3, phoneme input |
csmsc.transformer.v1 (New!) | Transformer with reduction factor = 1, pinyin input |
csmsc.fastspeech.v3 (New!) | Feed-forward Transformer with CNN instead of position-wise FFN and postnet (pinyin input ) |
Waveform synthesis is performed with Griffin-Lim algorithm as default, but we also support a pretrained WaveNet vocoder.
You can try it by extending the stop_stage
as follows:
../../../utils/synth_wav.sh --stop_stage 4 example.txt
You can change the pretrained vocoder model as follows:
../../../utils/synth_wav.sh --stop_stage 4 --vocoder_models ljspeech.wavenet.softmax.ns.v1 example.txt
Available pretrained vocoder models are listed as follows:
Model | Notes |
---|---|
ljspeech.wavenet.softmax.ns.v1 | 8 bit Softmax WaveNet w/ noise shapining trained by kan-bayashi/PytorchWaveNetVocoder |
ljspeech.wavenet.mol.v1 | 16 bit MoL WaveNet trained by r9y9/wavenet_vocoder |
jsut.wavenet.mol.v1 | 16 bit MoL WaveNet trained by r9y9/wavenet_vocoder |
libritts.wavenet.mol.v1 | 16 bit MoL WaveNet trained by r9y9/wavenet_vocoder |
csmsc.wavenet.mol.v1 | 16 bit MoL WaveNet trained by r9y9/wavenet_vocoder (Thanks, @lingjzhu!) |
If you want to build your own WaveNet vocoder, please check kan-bayashi/PytorchWaveNetVocoder or r9y9/wavenet_vocoder.
Chainer and Pytorch backends
Chainer | Pytorch | |
---|---|---|
Performance | ◎ | ◎ |
Speed | ○ | ◎ |
Multi-GPU | supported | supported |
VGG-like encoder | supported | supported |
Transformer | supported | supported |
RNNLM integration | supported | supported |
#Attention types | 3 (no attention, dot, location) | 12 including variants of multihead |
TTS recipe support | no support | supported |
References
[1] Shinji Watanabe, Takaaki Hori, Shigeki Karita, Tomoki Hayashi, Jiro Nishitoba, Yuya Unno, Nelson Enrique Yalta Soplin, Jahn Heymann, Matthew Wiesner, Nanxin Chen, Adithya Renduchintala, and Tsubasa Ochiai, "ESPnet: End-to-End Speech Processing Toolkit," Proc. Interspeech'18, pp. 2207-2211 (2018)
[2] Suyoun Kim, Takaaki Hori, and Shinji Watanabe, "Joint CTC-attention based end-to-end speech recognition using multi-task learning," Proc. ICASSP'17, pp. 4835--4839 (2017)
[3] Shinji Watanabe, Takaaki Hori, Suyoun Kim, John R. Hershey and Tomoki Hayashi, "Hybrid CTC/Attention Architecture for End-to-End Speech Recognition," IEEE Journal of Selected Topics in Signal Processing, vol. 11, no. 8, pp. 1240-1253, Dec. 2017
Citations
@inproceedings{watanabe2018espnet,
author={Shinji Watanabe and Takaaki Hori and Shigeki Karita and Tomoki Hayashi and Jiro Nishitoba and Yuya Unno and Nelson {Enrique Yalta Soplin} and Jahn Heymann and Matthew Wiesner and Nanxin Chen and Adithya Renduchintala and Tsubasa Ochiai},
title={ESPnet: End-to-End Speech Processing Toolkit},
year=2018,
booktitle={Interspeech},
pages={2207--2211},
doi={10.21437/Interspeech.2018-1456},
url={http://dx.doi.org/10.21437/Interspeech.2018-1456}
}
@misc{hayashi2019espnettts,
title={ESPnet-TTS: Unified, Reproducible, and Integratable Open Source End-to-End Text-to-Speech Toolkit},
author={Tomoki Hayashi and Ryuichi Yamamoto and Katsuki Inoue and Takenori Yoshimura and Shinji Watanabe and Tomoki Toda and Kazuya Takeda and Yu Zhang and Xu Tan},
year={2019},
eprint={1910.10909},
archivePrefix={arXiv},
primaryClass={cs.CL}
}