相关论文: Multi-goal Audio-visual Navigation using Sound Dir…

Large-scale vision-language models demonstrate strong multimodal alignment and generalization across diverse tasks. Among them, CLIP stands out as one of the most successful approaches. In this work, we extend the application of CLIP to…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

Learning how to localize and separate individual object sounds in the audio channel of the video is a difficult task. Current state-of-the-art methods predict audio masks from artificially mixed spectrograms, known as Mix-and-Separate…

We explore active audio-visual separation for dynamic sound sources, where an embodied agent moves intelligently in a 3D environment to continuously isolate the time-varying audio stream being emitted by an object of interest. The agent…

Speech data collected in real-world scenarios often encounters two issues. First, multiple sources may exist simultaneously, and the number of sources may vary with time. Second, the existence of background noise in recording is inevitable.…

We propose a knowledge-driven, model-based approach to segmenting audio into single-category and mixed-category chunks with applications to source separation. "Knowledge" here denotes information associated with the data, such as music…

Sound sources localization using multichannel signal processing has been a subject of active research for decades. In recent years, the use of deep learning in audio signal processing has allowed to drastically improve performances for…

We introduce DialNav, a novel collaborative embodied dialog task, where a navigation agent (Navigator) and a remote guide (Guide) engage in multi-turn dialog to reach a goal location. Unlike prior work, DialNav aims for holistic evaluation…

The identification of sound sources is a common problem in acoustics. Different parameters are sought, among these are signal and position of the sources. We present an adjoint-based approach for sound source identification, which employs…

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…

Audiovisual embodied navigation enables robots to locate audio sources by dynamically integrating visual observations from onboard sensors with the auditory signals emitted by the target. The core challenge lies in effectively leveraging…

This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…

Replay attacks remain a critical vulnerability for automatic speaker verification systems, particularly in real-time voice assistant applications. In this work, we propose acoustic maps as a novel spatial feature representation for replay…

Recently, significant progress has been made in multi-modal continual learning, aiming to learn new tasks sequentially in multi-modal settings while preserving performance on previously learned ones. However, existing methods mainly focus…

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.…

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…

Visual events are usually accompanied by sounds in our daily lives. We pose the question: Can the machine learn the correspondence between visual scene and the sound, and localize the sound source only by observing sound and visual scene…

Visual events are usually accompanied by sounds in our daily lives. However, can the machines learn to correlate the visual scene and sound, as well as localize the sound source only by observing them like humans? To investigate its…

We present a method for simultaneously localizing multiple sound sources within a visual scene. This task requires a model to both group a sound mixture into individual sources, and to associate them with a visual signal. Our method jointly…

Music demixing is the task of separating different tracks from the given single audio signal into components, such as drums, bass, and vocals from the rest of the accompaniment. Separation of sources is useful for a range of areas,…