# Dynamic Multi-Target Fusion for Efficient Audio-Visual Navigation

arXiv: https://arxiv.org/abs/2509.21377 · HTML: https://mlsanity.com/paper/2509.21377/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 33 references that are in the map.
- First posted on arXiv 23 Sep 2025.

## Builds on (most cited first, 22 of 22)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [SoundNet: Learning Sound Representations from Unlabeled Video](https://mlsanity.com/paper/1610.09001/) (2016)
- [Towards Learning a Generalist Model for Embodied Navigation](https://mlsanity.com/paper/2312.02010/) (2023)
- [Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions](https://mlsanity.com/paper/2309.11382/) (2023)
- [Look, Listen, and Act: Towards Audio-Visual Embodied Navigation](https://mlsanity.com/paper/1912.11684/) (2019)
- [Learning Representations from Audio-Visual Spatial Alignment](https://mlsanity.com/paper/2011.01819/) (2020)
- [SoundSpaces 2.0: A Simulation Platform for Visual-Acoustic Learning](https://mlsanity.com/paper/2206.08312/) (2022)
- [Ambient Sound Provides Supervision for Visual Learning](https://mlsanity.com/paper/1608.07017/) (2016)
- [Dual-modality seq2seq network for audio-visual event localization](https://mlsanity.com/paper/1902.07473/) (2019)
- [Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2407.05890/) (2024)
- [MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation](https://mlsanity.com/paper/2502.13451/) (2025)
- [Sound Adversarial Audio-Visual Navigation](https://mlsanity.com/paper/2202.10910/) (2022)
- [Measuring Acoustics with Collaborative Multiple Agents](https://mlsanity.com/paper/2310.05368/) (2023)
- [Omnidirectional Information Gathering for Knowledge Transfer-based Audio-Visual Navigation](https://mlsanity.com/paper/2308.10306/) (2023)
- [WebVLN: Vision-and-Language Navigation on Websites](https://mlsanity.com/paper/2312.15820/) (2023)
- [Pay Self-Attention to Audio-Visual Navigation](https://mlsanity.com/paper/2210.01353/) (2022)

## Built on by (most cited first, 13 of 13)

- [Audio Spatially-Guided Fusion for Audio-Visual Navigation](https://mlsanity.com/paper/2604.02389/) (2026)
- [Spatial-Aware Conditioned Fusion for Audio-Visual Navigation](https://mlsanity.com/paper/2604.02390/) (2026)
- [Reliability-Aware Geometric Fusion for Robust Audio-Visual Navigation](https://mlsanity.com/paper/2604.02391/) (2026)
- [Generalizable Audio-Visual Navigation via Binaural Difference Attention and Action Transition Prediction](https://mlsanity.com/paper/2604.05007/) (2026)
- [ML-SAN: Multi-Level Speaker-Adaptive Network for Emotion Recognition in Conversations](https://mlsanity.com/paper/2604.25383/) (2026)
- [MRUF: Multi-granularity Routing with Uncertainty-Aware Fusion for Robust Multimodal Sentiment Analysis](https://mlsanity.com/paper/2607.10599/) (2026)
- [HRO: Hierarchical Room-to-Object Framework for Zero-Shot Object Goal Navigation with Large Language Models](https://mlsanity.com/paper/2607.13072/) (2026)
- [A Hybrid Mamba for Audio-Visual Navigation](https://mlsanity.com/paper/2607.13110/) (2026)
- [CTAN: Cycle-Temporal Attention Network for Embodied Audio-Visual Navigation](https://mlsanity.com/paper/2609.17420/) (2026)
- [Transformer-Based Token Fusion and Dynamic Graph Planning for Audio-Visual Navigation](https://mlsanity.com/paper/2609.17421/) (2026)
- [Talking Head Synthesis with Facial Landmark Guidance via 3D Gaussian Splatting](https://mlsanity.com/paper/2609.17422/) (2026)
- [WS-NeRF: A Mamba-Driven World-State-Aware Adaptive Deblurring Neural Radiance Field](https://mlsanity.com/paper/2609.21391/) (2026)
- [Two-Stage Multi-modal Learning for Dynamic Audio-Visual Navigation: From Physical Alignment to Scene Aggregation](https://mlsanity.com/paper/2610.14077/) (2026)

## Abstract (arXiv)

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 multimodal cues to guide navigation. While prior works have explored basic fusion of visual and audio data, they often overlook deeper perceptual context. To address this, we propose the Dynamic Multi-Target Fusion for Efficient Audio-Visual Navigation (DMTF-AVN). Our approach uses a multi-target architecture coupled with a refined Transformer mechanism to filter and selectively fuse cross-modal information. Extensive experiments on the Replica and Matterport3D datasets demonstrate that DMTF-AVN achieves state-of-the-art performance, outperforming existing methods in success rate (SR), path efficiency (SPL), and scene adaptation (SNA). Furthermore, the model exhibits strong scalability and generalizability, paving the way for advanced multimodal fusion strategies in robotic navigation. The code and videos are available at https://github.com/zzzmmm-svg/DMTF.