BCNav: Bearing-Conditioned Depth Policies for Sound Source Navigation

arXiv:2609.37084 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/york1to/bcnav

Terminology

• Accuracy — 12× in this paper · explained in 1 episode
• Action Space — 4× in this paper · explained in 1 episode
• Transformer — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Fidelity — 2× in this paper · explained in 2 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Success Rate — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Edge Devices — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Self-Distillation — 1× in this paper · explained in 7 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• On Evaluation of Embodied Navigation Agents
• Q-Guided Stein Variational Model Predictive Control via RL-informed Policy Prior
• DeFM: Learning Foundation Representations from Depth for Robotics
• The Replica Dataset: A Digital Replica of Indoor Spaces

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