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


January 11, 2019

HARK released for Windows.
See here for more detail.

December 28, 2018

HARK 3.0.1 released. (HARK-ROS, HARK-Rescue and HARK-OpenCV2 included)
See here for more detail.

December 17, 2018

HARK Automatic Speech Recognition Pack (HARK音声認識セット) is released(version 3.0.0)

December 04, 2018

HARK 3.0.0 released.
See here for more detail.

October 05, 2018

HARK 2.5.0 released

HARK-ROS-IROS2018 Tutorials  released on HARK-ROS Tutorials.

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

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


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