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

For camera-based satellite visual sensing, Sim2Real data construction requires images that approach real-domain sensor appearance while retaining the annotations inherited from simulation. Real sensor images of satellite targets with…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…

The goal of this work is to address the recent success of domain randomization and data augmentation for the sim2real setting. We explain this success through the lens of causal inference, positioning domain randomization and data…

The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of…

Audiovisual Automatic Speech Recognition (AV-ASR) aims to improve speech recognition accuracy by leveraging visual signals. It is particularly challenging in unconstrained real-world scenarios across various domains due to noisy acoustic…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Automatic speech recognition can potentially benefit from the lip motion patterns, complementing acoustic speech to improve the overall recognition performance, particularly in noise. In this paper we propose an audio-visual fusion strategy…

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…

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…

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…

Sim2Real aims at training policies in high-fidelity simulation environments and effectively transferring them to the real world. Despite the developments of accurate simulators and Sim2Real RL approaches, the policies trained purely in…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

Real time acquisition of accurate underwater sound velocity profile (SSP) is crucial for tracking the propagation trajectory of underwater acoustic signals, making it play a key role in ocean communication positioning. SSPs can be directly…

Acoustic propagation models are widely used in numerous oceanic and other underwater applications. Most conventional models are approximate solutions of the acoustic wave equation, and require accurate environmental knowledge to be…

Underwater acoustic target recognition (UATR) and localization (UATL) play important roles in marine exploration. The highly noisy acoustic signal and time-frequency interference among various sources pose big challenges to this task. To…

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…

In today's tech-driven world, significant advancements in artificial intelligence and virtual reality have emerged. These developments drive research into exploring their intersection in the realm of soundscape. Not only do these…

Learning from audio-visual data offers many possibilities to express correspondence between the audio and visual content, similar to the human perception that relates aural and visual information. In this work, we present a method for…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…