Related papers: Semantic Audio-Visual Navigation
Audio-visual navigation of an agent towards locating an audio goal is a challenging task especially when the audio is sporadic or the environment is noisy. In this paper, we present CAVEN, a Conversation-based Audio-Visual Embodied…
Audio-visual embodied navigation, as a hot research topic, aims training a robot to reach an audio target using egocentric visual (from the sensors mounted on the robot) and audio (emitted from the target) input. The audio-visual…
This work presents a modular architecture for simultaneous mapping and target driven navigation in indoors environments. The semantic and appearance stored in 2.5D map is distilled from RGB images, semantic segmentation and outputs of…
Sim2real transfer has received increasing attention lately due to the success of learning robotic tasks in simulation end-to-end. While there has been a lot of progress in transferring vision-based navigation policies, the existing sim2real…
Audio visual segmentation (AVS) aims to segment the sounding objects for each frame of a given video. To distinguish the sounding objects from silent ones, both audio-visual semantic correspondence and temporal interaction are required. The…
The rapid advances in audio analysis underscore its vast potential for humancomputer interaction, environmental monitoring, and public safety; yet, existing audioonly datasets often lack spatial context. To address this gap, we present two…
Recognizing the sounding objects in scenes is a longstanding objective in embodied AI, with diverse applications in robotics and AR/VR/MR. To that end, Audio-Visual Segmentation (AVS), taking as condition an audio signal to identify the…
Humans are able to localize objects in the environment using both visual and auditory cues, integrating information from multiple modalities into a common reference frame. We introduce a system that can leverage unlabeled audio-visual data…
This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…
Generalisation to unseen contexts remains a challenge for embodied navigation agents. In the context of semantic audio-visual navigation (SAVi) tasks, the notion of generalisation should include both generalising to unseen indoor visual…
Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…
In audio-visual navigation (AVN) tasks, an embodied agent must autonomously localize a sound source in unknown and complex 3D environments based on audio-visual signals. Existing methods often rely on static modality fusion strategies and…
Leveraging temporal synchronization and association within sight and sound is an essential step towards robust localization of sounding objects. To this end, we propose a space-time memory network for sounding object localization in videos.…
Our objective is to transform a video into a set of discrete audio-visual objects using self-supervised learning. To this end, we introduce a model that uses attention to localize and group sound sources, and optical flow to aggregate…
This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we…
Object-based audio production requires the positional metadata to be defined for each point-source object, including the key elements in the foreground of the sound scene. In many media production use cases, both cameras and microphones are…
Audio-only walking navigation can leave users disoriented, relying on vague cardinal directions and lacking real-time environmental context, leading to frequent errors. To address this, we present a novel system that integrates a Vision…
The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…
We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate highly realistic acoustics for arbitrary sounds captured from…
Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…