Systems and Methods for Time-Scale Modification of Audio Signals

System and methods are provided for modifying audio signals. A waveform representing an audio signal changing over time is received. A first time length is selected. A first starting point in the waveform is selected. A first pair of adjacent segments of the waveform are determined based at least in part on the first starting point and the first time length. The first pair of adjacent segments each correspond to the first time length. A first difference measure associated with the first pair of adjacent segments is calculated. In response to the first difference measure being smaller than a threshold, compression or expansion of the waveform is performed based at least in part on the first time length and the first starting point.