Sound plays a major role in human perception. Along with vision, it provides essential information for understanding our surroundings. Despite advances in neural implicit representations, learning acoustics that align with visual scenes remains a challenge. We propose NeRAF, a method that jointly learns acoustic and radiance fields. NeRAF synthesizes both novel views and spatialized room impulse responses (RIR) at new positions by conditioning the acoustic field on 3D scene geometric and appearance priors from the radiance field. The generated RIR can be applied to auralize any audio signal. Each modality can be rendered independently and at spatially distinct positions, offering greater versatility. We demonstrate that NeRAF generates high-quality audio on SoundSpaces and RAF datasets, achieving significant performance improvements over prior methods while being more data-efficient. Additionally, NeRAF enhances novel view synthesis of complex scenes trained with sparse data through cross-modal learning. NeRAF is designed as a Nerfstudio module, providing convenient access to realistic audio-visual generation. Project page: https://amandinebtto.github.io/NeRAF

Feature attribution methods aim to improve the transparency of deep neural networks by identifying the input features that influence a model’s decision. Pixel-based heatmaps have become the standard for attributing features to high-dimensional inputs, such as images, audio representations, and volumes. While intuitive and convenient, these pixel-based attributions fail to capture the underlying structure of the data. Moreover, the choice of domain for computing attributions has often been overlooked. This work demonstrates that the wavelet domain allows for informative and meaningful attributions. It handles any input dimension and offers a unified approach to feature attribution. Our method, the Wavelet Attribution Method (WAM), leverages the spatial and scale-localized properties of wavelet coefficients to provide explanations that capture both the where and what of a model’s decision-making process. We show that WAM quantitatively matches or outperforms existing gradient-based methods across multiple modalities, including audio, images, and volumes. Additionally, we discuss how WAM bridges attribution with broader aspects of model robustness and transparency. Project page: https://gabrielkasmi.github.io/wam/

Vision research showed remarkable success in understanding our world, propelled by datasets of images and videos. Sensor data from radar, LiDAR and cameras supports research in robotics and autonomous driving for at least a decade. However, while visual sensors may fail in some conditions, sound has recently shown potential to complement sensor data. Simulated room impulse responses (RIR) in 3D apartment-models became a benchmark dataset for the community, fostering a range of audiovisual research. In simulation, depth is predictable from sound, by learning bat-like perception with a neural network. Concurrently, the same was achieved in reality by using RGB-D images and echoes of chirping sounds. Biomimicking bat perception is an exciting new direction but needs dedicated datasets to explore the potential. Therefore, we collected the BatVision dataset to provide large-scale echoes in complex real-world scenes to the community. We equipped a robot with a speaker to emit chirps and a binaural microphone to record their echoes. Synchronized RGB-D images from the same perspective provide visual labels of traversed spaces. We sampled modern US office spaces to historic French university grounds, indoor and outdoor with large architectural variety. This dataset will allow research on robot echolocation, general audio-visual tasks and sound phænomena unavailable in simulated data. We show promising results for audio-only depth prediction and show how state-of-the-art work developed for simulated data can also succeed on our dataset. Project page: https://amandinebtto.github.io/Batvision-Dataset/