Generative AI (AI) has become ubiquitous in both daily and professional life, with emerging research demonstrating its potential as a tool for accessibility. Neurodivergent people, often left out by existing accessibility technologies, develop their own ways of navigating normative expectations. GAI offers new opportunities for access, but it is important to understand how neurodivergent "power users"-successful early adopters-engage with it and the challenges they face. Further, we must understand how marginalization and intersectional identities influence their interactions with GAI. Our autoethnography, enhanced by privacy-preserving GAI-based diaries and interviews, reveals the intricacies of using GAI to navigate normative environments and expectations. Our findings demonstrate how GAI can both support and complicate tasks like code-switching, emotional regulation, and accessing information. We show that GAI can help neurodivergent users to reclaim their agency in systems that diminish their autonomy and self-determination. However, challenges such as balancing authentic self-expression with societal conformity, alongside other risks, create barriers to realizing GAI's full potential for accessibility.

Recent advancements in speech synthesis have significantly improved the audio quality and pronunciation of synthesized speech.To further advance toward human-like conversational speech synthesis, this paper presents Filler-Speech, a novel speech synthesis framework that enables natural filler insertion and control over filler style.To address this, we construct a filler-inclusive speech data, derived from the open-source large-scale speech corpus.This data includes fillers with pitch and duration information.For the generation and style control of natural fillers, we propose a method that tokenizes the filler style and utilizes crossattention with the input text.Furthermore, we introduce a large language model-based filler prediction method that enables natural insertion of fillers even when only text input is provided.The experimental results demonstrate that the constructed dataset is valid and that our proposed methods for filler style control and filler prediction are effective.

Recently, there has been a growing demand for conversational speech synthesis (CSS) that generates more natural speech by considering the conversational context. To address this, we introduce JELLY, a novel CSS framework that integrates emotion recognition and context reasoning for generating appropriate speech in conversation by fine-tuning a large language model (LLM) with multiple partial LoRA modules. We propose an Emotion-aware Q-former encoder, which enables the LLM to perceive emotions in speech. The encoder is trained to align speech emotions with text, utilizing datasets of emotional speech. The entire model is then fine-tuned with conversational speech data to infer emotional context for generating emotionally appropriate speech in conversation. Our experimental results demonstrate that JELLY excels in emotional context modeling, synthesizing speech that naturally aligns with conversation, while mitigating the scarcity of emotional conversational speech datasets.

The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and failure possibility of the system. This paper introduces a method for learning external joint torque solely using proprioceptive sensors (encoders and IMUs) for a floating base robot. For learning, the GRU network is used and random walking data is collected. Real robot experiments demonstrate that the network can estimate the external torque and contact wrench with significantly smaller errors compared to the model-based method, momentum observer (MOB) with friction modeling. The study also validates that the estimated contact wrench can be utilized for zero moment point (ZMP) feedback control, enabling stable walking. Moreover, even when the robot's feet and the inertia of the upper body are changed, the trained network shows consistent performance with a model-based calibration. This result demonstrates the possibility of removing FTS on the robot, which reduces the disadvantages of hardware sensors.