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AcousticDiffusion: Semantically Conditioned Audio-Guided Diffusion Policy for Search-and-Rescue Assistance

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Navigating toward human callers is an important capability for rescue robots operating where visual contact is degraded or occluded. We present AcousticDiffusion, a semantically conditioned, audio-guided diffusion policy for human-directed navigation. A frozen pretrained audio recognizer processes 10.24 s windows, with speech gating and distress-aware prioritization converting recognition outputs into source-level navigation roles. Microphone-array direction-of-arrival measurements are recursively integrated into a robot-centric Bayesian bird's-eye-view belief field. Ego-motion compensation al

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