相关论文: Sim2Real Transfer for Audio-Visual Navigation with…

This paper constructs a novel multi-modal sensing-communication digital-twin dataset, named SynthSoM-Twin, which is spatio-temporally consistent with the real world, for Sim2Real transfer via Synesthesia of Machines (SoM). To construct the…

Direct speech-to-speech translation (S2ST) aims to convert speech from one language into another, and has demonstrated significant progress to date. Despite the recent success, current S2ST models still suffer from distinct degradation 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…

Audio fingerprinting (AFP) allows the identification of unknown audio content by extracting compact representations, termed audio fingerprints, that are designed to remain robust against common audio degradations. Neural AFP methods often…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

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…

Analyzing the ocean acoustic environment is a tricky task. Background noise and variable channel transmission environment make it complicated to implement accurate ship-radiated noise recognition. Existing recognition systems are weak in…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations…

The aim of audio-visual segmentation (AVS) is to precisely differentiate audible objects within videos down to the pixel level. Traditional approaches often tackle this challenge by combining information from various modalities, where the…

Environmental sounds like footsteps, keyboard typing, or dog barking carry rich information and emotional context, making them valuable for designing haptics in user applications. Existing audio-to-vibration methods, however, rely on…

Reference Audio-Visual Segmentation (Ref-AVS) aims to provide a pixel-wise scene understanding in Language-aided Audio-Visual Scenes (LAVS). This task requires the model to continuously segment objects referred to by text and audio from a…

We introduce the visual acoustic matching task, in which an audio clip is transformed to sound like it was recorded in a target environment. Given an image of the target environment and a waveform for the source audio, the goal is to…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

An environment acoustic model represents how sound is transformed by the physical characteristics of an indoor environment, for any given source/receiver location. Traditional methods for constructing acoustic models involve expensive and…

Interactive audio spatialization technology previously developed for video game authoring and rendering has evolved into an essential component of platforms enabling shared immersive virtual experiences for future co-presence, remote…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

3D data simulation aims to bridge the gap between simulated and real-captured 3D data, which is a fundamental problem for real-world 3D visual tasks. Most 3D data simulation methods inject predefined physical priors but struggle to capture…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…