Related papers: Knowledge-driven Scene Priors for Semantic Audio-V…
Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…
Audio-Visual Embodied Navigation aims to enable agents to autonomously navigate to sound sources in unknown 3D environments using auditory cues. While current AVN methods excel on in-distribution sound sources, they exhibit poor…
Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…
We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…
In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…
Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…
Recent work on audio-visual navigation targets a single static sound in noise-free audio environments and struggles to generalize to unheard sounds. We introduce the novel dynamic audio-visual navigation benchmark in which an embodied AI…
How do humans navigate to target objects in novel scenes? Do we use the semantic/functional priors we have built over years to efficiently search and navigate? For example, to search for mugs, we search cabinets near the coffee machine and…
In audio-visual navigation (AVN), an intelligent agent needs to navigate to a constantly sound-making object in complex 3D environments based on its audio and visual perceptions. While existing methods attempt to improve the navigation…
Visual Navigation is a core task in Embodied AI, enabling agents to navigate complex environments toward given objectives. Across diverse settings within Navigation tasks, many necessitate the modelling of sequential data accumulated from…
In audio-visual navigation, an agent intelligently travels through a complex, unmapped 3D environment using both sights and sounds to find a sound source (e.g., a phone ringing in another room). Existing models learn to act at a fixed…
Audio-visual navigation tasks require agents to locate and navigate toward continuously vocalizing targets using only visual observations and acoustic cues. However, existing methods mainly rely on simple feature concatenation or late…
We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…
Recent work on audio-visual navigation assumes a constantly-sounding target and restricts the role of audio to signaling the target's position. We introduce semantic audio-visual navigation, where objects in the environment make sounds…
When humans perceive the world, they naturally integrate multiple audio-visual tasks within dynamic, real-world scenes. However, current works such as event localization, parsing, segmentation and question answering are mostly explored…
Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…
Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…
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…
Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…
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…