1. A method for controlling a device responsive to an audio signal captured using an audio sensor, comprising: receiving the audio signal from the audio sensor; using a data processor to automatically analyze the audio signal using a plurality of semantic concept detectors to determine corresponding preliminary semantic concept detection values, the semantic concept detectors being associated with a corresponding plurality of semantic concepts, each semantic concept detector being adapted to detect a particular semantic concept; using a data processor to automatically analyze the preliminary semantic concept detection values using a joint likelihood model to determine updated semantic concept detection values; wherein the joint likelihood model determines the updated semantic concept detection values based on predetermined pair-wise likelihoods that particular pairs of semantic concepts co-occur; identifying one or more semantic concept associated with the audio signal based on the updated semantic concept detection values; and controlling the device responsive to the identified semantic concepts; wherein the semantic concept detectors and the joint likelihood model are trained together with a joint training process using training audio signals, at least some of which are known to be associated with a plurality of semantic concepts.