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Hey OP, I don't have a ton of experience with speech synthesis, but I believe this is usually accomplished with a library like librosa to separate background noises (which your robots voice and frequency would be a part of) from other vocals.
I found this github issue from a couple years ago: https://github.com/Uberi/speech_recognition/issues/78
Looks like this problem is called Acoustic Echo Cancellation. Here's a working python example on how to handle it: https://github.com/varuncm/echo-cancel
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