Related papers: ANAVI: Audio Noise Awareness using Visuals of Indo…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception 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…
Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…
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…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
The sound of crashing waves, the roar of fast-moving cars -- sound conveys important information about the objects in our surroundings. In this work, we show that ambient sounds can be used as a supervisory signal for learning visual…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired…
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 should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…
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…
Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…
Mobile robots are increasingly being used in noisy environments for social purposes, e.g. to provide support in healthcare or public spaces. Since these robots also operate beyond human sight, the question arises as to how different robot…
While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…
Unmanned Aerial Vehicles (UAVs) have become widely used in various fields and industrial applications thanks to their low operational cost, compact size and wide accessibility. However, the noise generated by drone propellers has emerged as…
The sound of crashing waves, the roar of fast-moving cars -- sound conveys important information about the objects in our surroundings. In this work, we show that ambient sounds can be used as a supervisory signal for learning visual…
As humans, we hear sound every second of our life. The sound we hear is often affected by the acoustics of the environment surrounding us. For example, a spacious hall leads to more reverberation. Room Impulse Responses (RIR) are commonly…
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…
Recent advancements in quadruped robot research have significantly improved their ability to traverse complex and unstructured outdoor environments. However, the issue of noise generated during locomotion is generally overlooked, which is…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…