FloorSAV: Elucidating Spatial Audio-Visual Context with 2D Floormap for AV-LLMs

arXiv:2610.11310v1 Announce Type: cross Abstract: While 3D spatial reasoning in dynamic egocentric environments is crucial for embodied intelligence, audio-visual large language models (AV-LLMs) lack explicit mechanisms to process and internalize global geometry directly from raw sensory streams. Existing approaches either require costly fine-tuning or underutilize the model's cross-modal reasoning capacities. In this paper, we propose FloorSAV, a novel framework that explicitly grounds spatial audio-visual context by rendering a dynamic 2D floormap. By integrating 3D point clouds, camera trajectories, spatial audio cues, and semantically grounded object landmarks, we inject this floormap into the AV-LLM as a synchronized stream with an egocentric video. AV-LLMs utilize their multi-modal capabilities to jointly reason over visual, auditory, and geometric cues in a single inference with floormap interpretation guidance. We further introduce SAVED-Bench (Spatial Audio-Visual Egocentric Benchmark with Dynamic Agents), constructing essential tasks of spatial capability in real-world scenarios: dynamic relativity, regional, and path reasoning QAs. FloorSAV improves AV-LLMs' spatial reasoning on various tasks from both SAVED-Bench and SAVVY-Bench. Studies with ground-truth floormaps demonstrate the substantial potential of FloorSAV with accurate spatial information.

Abstract:While 3D spatial reasoning in dynamic egocentric environments is crucial for embodied intelligence, audio-visual large language models (AV-LLMs) lack explicit mechanisms to process and internalize global geometry directly from raw sensory streams. Existing approaches either require costly fine-tuning or underutilize the model's cross-modal reasoning capacities. In this paper, we propose FloorSAV, a novel framework that explicitly grounds spatial audio-visual context by rendering a dynamic 2D floormap. By integrating 3D point clouds, camera trajectories, spatial audio cues, and semantically grounded object landmarks, we inject this floormap into the AV-LLM as a synchronized stream with an egocentric video. AV-LLMs utilize their multi-modal capabilities to jointly reason over visual, auditory, and geometric cues in a single inference with floormap interpretation guidance. We further introduce SAVED-Bench (Spatial Audio-Visual Egocentric Benchmark with Dynamic Agents), constructing essential tasks of spatial capability in real-world scenarios: dynamic relativity, regional, and path reasoning QAs. FloorSAV improves AV-LLMs' spatial reasoning on various tasks from both SAVED-Bench and SAVVY-Bench. Studies with ground-truth floormaps demonstrate the substantial potential of FloorSAV with accurate spatial information.

Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG)

arXiv:2610.11310 [cs.CV]

(or arXiv:2610.11310v1 [cs.CV] for this version)

https://doi.org/10.48550/arXiv.2610.11310 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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FloorSAV: Elucidating Spatial Audio-Visual Context with 2D Floormap for AV-LLMs

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