RAVN improves audio-visual navigation by learning audio-derived reliability cues via an Acoustic Geometry Reasoner and using them to modulate visual features through Reliability-Aware Geometric Modulation.
Learning to set waypoints for audio-visual navigation
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SACF discretizes target direction and distance from audio-visual cues then applies conditioned fusion to improve navigation efficiency and generalization to unheard sounds.
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Reliability-Aware Geometric Fusion for Robust Audio-Visual Navigation
RAVN improves audio-visual navigation by learning audio-derived reliability cues via an Acoustic Geometry Reasoner and using them to modulate visual features through Reliability-Aware Geometric Modulation.
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Spatial-Aware Conditioned Fusion for Audio-Visual Navigation
SACF discretizes target direction and distance from audio-visual cues then applies conditioned fusion to improve navigation efficiency and generalization to unheard sounds.