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Recent years have seen embodied visual navigation advance in two distinct directions: (i) in equipping the AI agent to follow natural language instructions, and (ii) in making the navigable world multimodal, e.g., audio-visual navigation.…
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…
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…
A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…
Audio-visual navigation task requires an agent to find a sound source in a realistic, unmapped 3D environment by utilizing egocentric audio-visual observations. Existing audio-visual navigation works assume a clean environment that solely…
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…
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…
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…
Audio-Visual Navigation (AVN) requires an embodied agent to navigate toward a sound source by utilizing both vision and binaural audio. A core challenge arises in complex acoustic environments, where binaural cues become intermittently…
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…
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…
In this paper our objectives are, first, networks that can embed audio and visual inputs into a common space that is suitable for cross-modal retrieval; and second, a network that can localize the object that sounds in an image, given the…
Audio-visual navigation is an audio-targeted wayfinding task where a robot agent is entailed to travel a never-before-seen 3D environment towards the sounding source. In this article, we present ORAN, an omnidirectional audio-visual…
Developing embodied agents in simulation has been a key research topic in recent years. Exciting new tasks, algorithms, and benchmarks have been developed in various simulators. However, most of them assume deaf agents in silent…
Dialogue models falter in noisy, multi-speaker environments, often producing irrelevant responses and awkward turn-taking. We present AV-Dialog, the first multimodal dialog framework that uses both audio and visual cues to track the target…
We study language-conditioned visual navigation (LCVN), in which an embodied agent is asked to follow a natural language instruction based only on an initial egocentric observation. Without access to goal images, the agent must rely on…
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…
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…
Intelligent agents often require collaborative strategies to achieve complex tasks beyond individual capabilities in real-world scenarios. While existing audio-visual navigation (AVN) research mainly focuses on single-agent systems, their…
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…