How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired with 360 degree RGB data of people moving in different indoor settings. We train models that predict if there is a moving person nearby and their location using only audio. We implement our method on a robot, allowing it to track a single person moving quietly with only passive audio sensing. For demonstration videos, see our project page: https://sites.google.com/view/unkidnappable-robot

翻译：摘要：悄悄接近一个机器人有多容易？我们研究了是否仅利用人们移动时产生的偶然声音（即使他们试图保持安静）就能检测到人。我们收集了一个机器人数据集，包含高质量的4通道音频以及人们在室内不同环境中移动的360度RGB数据。我们训练了仅通过音频预测附近是否有移动的人及其位置的模型。我们在机器人上实现了该方法，使其能够仅通过被动音频感知追踪一个安静移动的人。演示视频请见我们的项目页面：https://sites.google.com/view/unkidnappable-robot