arXiv subjects

Ruohan Gao

Publications and source records attributed to Ruohan Gao.

At least 19 recordsLinked to original sources

arXiv2026

Objects as Audio-Visual Modal Sound Fields

While modern 3D reconstruction excels at modeling object geometry and appearance, it largely ignores the rich acoustic cues revealed through physical interaction. Object impact sounds convey material, stiffness, and structural properties that complement vision, yet existing impact sound modeling approaches either rely on expensive physics-based simulation or require large datasets to generalize in a purely data-driven manner. We introduce Audio-Visual Modal Sound Field (AV-MSF), a novel object-level acoustic representation reconstructed from multi-view images and only a few impact sound recordings. AV-MSF builds on 3D Gaussian Splatting integrated with dense 3D visual feature to provide a strong geometry-aware prior, and represents the impact sound field using compact, physically meaningful modal parameters, enabling robust few-shot reconstruction. Experiments on two real-world datasets show that AV-MSF achieves state-of-the-art impact sound rendering, outperforming both physics-based and data-driven baselines. Furthermore, we demonstrate downstream applications enabled by our representation, including contact localization and object sound editing.

cs.CV↗

arXiv2026

OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies

Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success significantly depends on local force and contact geometry. Tactile sensing provides these complementary signals, yet tactile data remain costly to collect and hard to generalize across sensors, robots, and tasks. We introduce OmniTacTune, a policy-agnostic real-world RL pipeline that adapts tactile feedback to pretrained visual policies through residual correction. OmniTacTune uses a two-stage design: it first bootstraps tactile-aware learning from autonomous base-policy rollouts, then learns a lightweight tactile residual policy through online interaction. Extensive experiments show that OmniTacTune generalizes across diverse contact-rich tasks, visual base policies, and tactile representations. Across four real-world contact-rich tasks, it improves visual base policies from 5-40% success to 85-100% within 40-80 minutes, demonstrating an efficient path for adapting tactile feedback to scalable visual robot policies. Project page: https://colinyu1.github.io/omnitactune-site/

cs.RO↗

arXiv2026

A Survey on Foundations and Frontiers of Multimodal Agentic Frameworks: Techniques and Applications

Advances in large language models (LLMs) have fueled a wave of research into agency: the ability to reason, plan, and act. This effort has produced agentic frameworks that orchestrate perception, memory, and decision-making around powerful LLM backbones. With the advent of large multimodal models (LMMs), these systems can process and integrate diverse modalities, including images, audio, and video, thereby improving their real-world applicability. Yet, while surveys of LLM-based agents exist, the role of multimodality in shaping agency has not been systematically examined in recent years. This survey fills the gap by analyzing the impact of multimodality across the core functional modules of the agentic framework: perception, reasoning, planning, memory, and action. Using this lens, we trace the evolution from text-centric agents to multimodal frameworks, examine how modalities are integrated through delegated, late-fusion, and early-fusion architectures, and assess the emergence of agentic behaviors enabled by grounded perception and multimodal reasoning. We organize existing work through a modality-centric taxonomy that links architectural design choices to agent capabilities. Moreover, we review multimodal agentic systems across various application domains, including Robotics, GUI & Web Navigation, Multimedia Content Generation & Editing, and Long-form Video Understanding & Retrieval. Beyond capabilities, we analyze performance across these settings and discuss efficiency-scalability trade-offs, including training and inference costs, latency, and deployment constraints. By focusing on the impact of multimodality in agentic design, we aim to identify key gaps and chart a roadmap toward robust and general-purpose intelligent systems.

cs.AI↗

arXiv2026

HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos

Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and kinematics. We present HumanEgo, a framework that bridges the embodiment gap by lifting each human demonstration to an entity-level representation of hand-object interaction, and training a flow matching policy with dense auxiliary objectives that amplify supervision from every trajectory. HumanEgo is robot-data-free, hardware-agnostic, data-efficient, and zero-shot human-to-robot transferable. With only 30 minutes of human videos per task, HumanEgo achieves 92.5% average success across four real-world tasks (75% with just 15 minutes), outperforms matched-time robot teleoperation by 41%, and robustly transfers zero-shot across novel robots, cameras, and environments. We release HumanEgo as an easy-to-use, open-source framework for learning robot policies directly from human data: https://github.com/TX-Leo/HumanEgo

cs.RO↗

arXiv2026

Do Audio-Visual Large Language Models Really See and Hear?

Audio-Visual Large Language Models (AVLLMs) are emerging as unified interfaces to multimodal perception. We present the first mechanistic interpretability study of AVLLMs, analyzing how audio and visual features evolve and fuse through different layers of an AVLLM to produce the final text outputs. We find that although AVLLMs encode rich audio semantics at intermediate layers, these capabilities largely fail to surface in the final text generation when audio conflicts with vision. Probing analyses show that useful latent audio information is present, but deeper fusion layers disproportionately privilege visual representations that tend to suppress audio cues. We further trace this imbalance to training: the AVLLM's audio behavior strongly matches its vision-language base model, indicating limited additional alignment to audio supervision. Our findings reveal a fundamental modality bias in AVLLMs and provide new mechanistic insights into how multimodal LLMs integrate audio and vision.

cs.AI↗

arXiv2026

SonoWorld: From One Image to a 3D Audio-Visual Scene

Tremendous progress in visual scene generation now turns a single image into an explorable 3D world, yet immersion remains incomplete without sound. We introduce Image2AVScene, the task of generating a 3D audio-visual scene from a single image, and present SonoWorld, the first framework to tackle this challenge. From one image, our pipeline outpaints a 360{\deg} panorama, lifts it into a navigable 3D scene, places language-guided sound anchors, and renders ambisonics for point, areal, and ambient sources, yielding spatial audio aligned with scene geometry and semantics. Quantitative evaluations on a newly curated real-world dataset and a controlled user study confirm the effectiveness of our approach. Beyond free-viewpoint audio-visual rendering, we also demonstrate applications to one-shot acoustic learning and audio-visual spatial source separation. Project website: https://humathe.github.io/sonoworld/

cs.CV↗

arXiv2025

AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be lightweight, but either depend on manual heuristics or task-coupled selection, limiting scalability and semantic understanding. To address this, we propose AFFORD2ACT, an affordance-guided framework that distills a minimal set of semantic 2D keypoints from a text prompt and a single image. AFFORD2ACT follows a three-stage pipeline: affordance filtering, category-level keypoint construction, and transformer-based policy learning with embedded gating to reason about the most relevant keypoints, yielding a compact 38-dimensional state policy that can be trained in 15 minutes, which performs well in real-time without proprioception or dense representations. Across diverse real-world manipulation tasks, AFFORD2ACT consistently improves data efficiency, achieving an 82% success rate on unseen objects, novel categories, backgrounds, and distractors.

cs.RO↗

arXiv2025

GenFlowRL: Shaping Rewards with Generative Object-Centric Flow in Visual Reinforcement Learning

Recent advances have shown that video generation models can enhance robot learning by deriving effective robot actions through inverse dynamics. However, these methods heavily depend on the quality of generated data and struggle with fine-grained manipulation due to the lack of environment feedback. While video-based reinforcement learning improves policy robustness, it remains constrained by the uncertainty of video generation and the challenges of collecting large-scale robot datasets for training diffusion models. To address these limitations, we propose GenFlowRL, which derives shaped rewards from generated flow trained from diverse cross-embodiment datasets. This enables learning generalizable and robust policies from diverse demonstrations using low-dimensional, object-centric features. Experiments on 10 manipulation tasks, both in simulation and real-world cross-embodiment evaluations, demonstrate that GenFlowRL effectively leverages manipulation features extracted from generated object-centric flow, consistently achieving superior performance across diverse and challenging scenarios. Our Project Page: https://colinyu1.github.io/genflowrl

cs.RO↗

arXiv2025

Towards Perception-Informed Latent HRTF Representations

Personalized head-related transfer functions (HRTFs) are essential for ensuring a realistic auditory experience over headphones, because they take into account individual anatomical differences that affect listening. Most machine learning approaches to HRTF personalization rely on a learned low-dimensional latent space to generate or select custom HRTFs for a listener. However, these latent representations are typically learned in a manner that optimizes for spectral reconstruction but not for perceptual compatibility, meaning they may not necessarily align with perceptual distance. In this work, we first study whether traditionally learned HRTF representations are well correlated with perceptual relations using auditory-based objective perceptual metrics; we then propose a method for explicitly embedding HRTFs into a perception-informed latent space, leveraging a metric-based loss function and supervision via Metric Multidimensional Scaling (MMDS). Finally, we demonstrate the applicability of these learned representations to the task of HRTF personalization. We suggest that our method has the potential to render personalized spatial audio, leading to an improved listening experience.

eess.AS↗

arXiv2025

EgoAdapt: Adaptive Multisensory Distillation and Policy Learning for Efficient Egocentric Perception

Modern perception models, particularly those designed for multisensory egocentric tasks, have achieved remarkable performance but often come with substantial computational costs. These high demands pose challenges for real-world deployment, especially in resource-constrained environments. In this paper, we introduce EgoAdapt, a framework that adaptively performs cross-modal distillation and policy learning to enable efficient inference across different egocentric perception tasks, including egocentric action recognition, active speaker localization, and behavior anticipation. Our proposed policy module is adaptable to task-specific action spaces, making it broadly applicable. Experimental results on three challenging egocentric datasets EPIC-Kitchens, EasyCom, and Aria Everyday Activities demonstrate that our method significantly enhances efficiency, reducing GMACs by up to 89.09%, parameters up to 82.02%, and energy up to 9.6x, while still on-par and in many cases outperforming, the performance of corresponding state-of-the-art models.

cs.CV↗

arXiv2025

ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generation

Vision-based tactile sensing is widely used in perception, reconstruction, and robotic manipulation, yet collecting large-scale tactile data remains costly due to diverse sensor-object interactions and inconsistencies across sensor instances. Existing approaches to scaling tactile data---simulation and free-form tactile generation---often yield unrealistically rendered signals with poor transfer to highly dynamic real-world tasks. We propose \name, a two-stage controllable tactile image generation framework that generates realistic tactile images conditioned on a single reference tactile image, contact force, and contact pose. By grounding generation in these important physical priors, \name synthesizes realistic samples across different sensors while effectively capturing task-relevant variations. Across a series of downstream tasks and real-world experiments, such as object insertion, imitation learning, and object weighting, the augmented datasets using our approach consistently improve performance and demonstrate practical utility in dynamic real-world settings. Project page: https://dongyuluo.github.io/controltac.

cs.CV↗

arXiv2025

Learning to Highlight Audio by Watching Movies

Recent years have seen a significant increase in video content creation and consumption. Crafting engaging content requires the careful curation of both visual and audio elements. While visual cue curation, through techniques like optimal viewpoint selection or post-editing, has been central to media production, its natural counterpart, audio, has not undergone equivalent advancements. This often results in a disconnect between visual and acoustic saliency. To bridge this gap, we introduce a novel task: visually-guided acoustic highlighting, which aims to transform audio to deliver appropriate highlighting effects guided by the accompanying video, ultimately creating a more harmonious audio-visual experience. We propose a flexible, transformer-based multimodal framework to solve this task. To train our model, we also introduce a new dataset -- the muddy mix dataset, leveraging the meticulous audio and video crafting found in movies, which provides a form of free supervision. We develop a pseudo-data generation process to simulate poorly mixed audio, mimicking real-world scenarios through a three-step process -- separation, adjustment, and remixing. Our approach consistently outperforms several baselines in both quantitative and subjective evaluation. We also systematically study the impact of different types of contextual guidance and difficulty levels of the dataset. Our project page is here: https://wikichao.github.io/VisAH/.

cs.CV↗

arXiv2025

Differentiable Room Acoustic Rendering with Multi-View Vision Priors

An immersive acoustic experience enabled by spatial audio is just as crucial as the visual aspect in creating realistic virtual environments. However, existing methods for room impulse response estimation rely either on data-demanding learning-based models or computationally expensive physics-based modeling. In this work, we introduce Audio-Visual Differentiable Room Acoustic Rendering (AV-DAR), a framework that leverages visual cues extracted from multi-view images and acoustic beam tracing for physics-based room acoustic rendering. Experiments across six real-world environments from two datasets demonstrate that our multimodal, physics-based approach is efficient, interpretable, and accurate, significantly outperforming a series of prior methods. Notably, on the Real Acoustic Field dataset, AV-DAR achieves comparable performance to models trained on 10 times more data while delivering relative gains ranging from 16.6% to 50.9% when trained at the same scale.

cs.CV↗

arXiv2025

Hearing Anywhere in Any Environment

In mixed reality applications, a realistic acoustic experience in spatial environments is as crucial as the visual experience for achieving true immersion. Despite recent advances in neural approaches for Room Impulse Response (RIR) estimation, most existing methods are limited to the single environment on which they are trained, lacking the ability to generalize to new rooms with different geometries and surface materials. We aim to develop a unified model capable of reconstructing the spatial acoustic experience of any environment with minimum additional measurements. To this end, we present xRIR, a framework for cross-room RIR prediction. The core of our generalizable approach lies in combining a geometric feature extractor, which captures spatial context from panorama depth images, with a RIR encoder that extracts detailed acoustic features from only a few reference RIR samples. To evaluate our method, we introduce ACOUSTICROOMS, a new dataset featuring high-fidelity simulation of over 300,000 RIRs from 260 rooms. Experiments show that our method strongly outperforms a series of baselines. Furthermore, we successfully perform sim-to-real transfer by evaluating our model on four real-world environments, demonstrating the generalizability of our approach and the realism of our dataset.

cs.CV↗

arXiv2025

Aurelia: Test-time Reasoning Distillation in Audio-Visual LLMs

Recent advancements in reasoning optimization have greatly enhanced the performance of large language models (LLMs). However, existing work fails to address the complexities of audio-visual scenarios, underscoring the need for further research. In this paper, we introduce AURELIA, a novel actor-critic based audio-visual (AV) reasoning framework that distills structured, step-by-step reasoning into AVLLMs at test time, improving their ability to process complex multi-modal inputs without additional training or fine-tuning. To further advance AVLLM reasoning skills, we present AVReasonBench, a challenging benchmark comprising 4500 audio-visual questions, each paired with detailed step-by-step reasoning. Our benchmark spans six distinct tasks, including AV-GeoIQ, which evaluates AV reasoning combined with geographical and cultural knowledge. Evaluating 18 AVLLMs on AVReasonBench reveals significant limitations in their multi-modal reasoning capabilities. Using AURELIA, we achieve up to a 100% relative improvement, demonstrating its effectiveness. This performance gain highlights the potential of reasoning-enhanced data generation for advancing AVLLMs in real-world applications. Our code and data will be publicly released at: https: //github.com/schowdhury671/aurelia.

eess.AS↗

arXiv2025

AVTrustBench: Assessing and Enhancing Reliability and Robustness in Audio-Visual LLMs

With the rapid advancement of Multi-modal Large Language Models (MLLMs), several diagnostic benchmarks have recently been developed to assess these models' multi-modal reasoning proficiency. However, these benchmarks are restricted to assessing primarily the visual aspect and do not examine the holistic audio-visual (AV) understanding. Moreover, currently, there are no benchmarks that investigate the capabilities of AVLLMs to calibrate their responses when presented with perturbed inputs. To this end, we introduce Audio-Visual Trustworthiness assessment Benchmark (AVTrustBench), comprising 600K samples spanning over 9 meticulously crafted tasks, evaluating the capabilities of AVLLMs across three distinct dimensions: Adversarial attack, Compositional reasoning, and Modality-specific dependency. Using our benchmark we extensively evaluate 13 state-of-the-art AVLLMs. The findings reveal that the majority of existing models fall significantly short of achieving human-like comprehension, offering valuable insights for future research directions. To alleviate the limitations in the existing approaches, we further propose a robust, model-agnostic calibrated audio-visual preference optimization based training strategy CAVPref, obtaining a gain up to 30.19% across all 9 tasks. We will publicly release our code and benchmark to facilitate future research in this direction.

cs.CV↗

arXiv2024

Scene-wide Acoustic Parameter Estimation

For augmented (AR) and virtual reality (VR) applications, accurate estimates of the acoustic characteristics of a scene are critical for creating a sense of immersion. However, directly estimating Room-impulse Responses (RIRs) from scene geometry is often a challenging, data-expensive task. We propose a method to instead infer spatially-distributed acoustic parameters (such as C50, T60, etc) for an entire scene from lightweight information readily available in an AR/VR context. We consider an image-to-image translation task to transform a 2D floormap, conditioned on a calibration RIR measurement, into 2D heatmaps of acoustic parameters. Moreover, we show that the method also works for directionally-dependent (i.e. beamformed) parameter prediction. We introduce and release a 1000-room, complex-scene dataset to study the task, and demonstrate improvements over strong statistical baselines.

eess.AS↗

arXiv2024

DiffSound: Differentiable Modal Sound Rendering and Inverse Rendering for Diverse Inference Tasks

Accurately estimating and simulating the physical properties of objects from real-world sound recordings is of great practical importance in the fields of vision, graphics, and robotics. However, the progress in these directions has been limited -- prior differentiable rigid or soft body simulation techniques cannot be directly applied to modal sound synthesis due to the high sampling rate of audio, while previous audio synthesizers often do not fully model the accurate physical properties of the sounding objects. We propose DiffSound, a differentiable sound rendering framework for physics-based modal sound synthesis, which is based on an implicit shape representation, a new high-order finite element analysis module, and a differentiable audio synthesizer. Our framework can solve a wide range of inverse problems thanks to the differentiability of the entire pipeline, including physical parameter estimation, geometric shape reasoning, and impact position prediction. Experimental results demonstrate the effectiveness of our approach, highlighting its ability to accurately reproduce the target sound in a physics-based manner. DiffSound serves as a valuable tool for various sound synthesis and analysis applications.

cs.SD↗