SoundSpaces: Audio-Visual Navigation in 3D Environments Supplementary Materials

1. Details of the audio simulation—including grid construction, mesh upgrades, acoustic simulation technique, and connectivity graph (as referenced in Sec. 3 of the main paper). 2. Additional illustrations of pressure fields from the audio simulation and the sampled grid. 3. Reinforcement learning training utilized in the network description (as referenced in Sec. 5 of the main paper.) 4. Audio intensity baselines, as referenced in Sec. 6 of the main paper. 5. Heard/unheard sounds, as referenced in Sec. 6, Tab. 2, and Tab. 3. 6. Additional navigation trajectory examples, similar to Fig. 4 in the main paper.