Open-Set Ego-Noise Separation for Legged-Robot Audition via Annotation-Free Adaptation and Pretrained-Model Transfer

arXiv:2609.07440 · cs.RO · Submitted 2026-09-07 · Read on arXiv

cs.RO

Submitted: 2026-09-07

Updated: 2026-10-13

Comments: 14 pages, 9 figures, 4 tables. Submitted to IEEE Transactions on Robotics

Code: https://github.com/kokieto/EgoNoiseSeparation

Project page: https://kokieto.github.io/EgoNoiseSeparation

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 1× in this paper · explained in 1 episode

Sources

• Robust Ladder Climbing with a Quadrupedal Robot
• Anomalous Sound Detection with Machine Learning: A Systematic Review
• ArrayDPS: Unsupervised Blind Speech Separation with a Diffusion Prior
• SAM Audio: Segment Anything in Audio
• Movie Gen: A Cast of Media Foundation Models
• Pushing the Frontier of Audiovisual Perception with Large-Scale Multimodal Correspondence Learning
• SAM Audio Judge: A Unified Multimodal Framework for Perceptual Evaluation of Audio Separation

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