This technical report presents AudioWorldSim, an open-source platform designed to generate realistic binaural audio datasets and advance research in audio-based machine learning, particularly world models. Built as a custom extension of Meta's SoundSpaces 2.0 platform, AudioWorldSim leverages their comprehensive acoustics framework, but focuses on the automatic rollout of random agent navigations, as well as implements crucial fixes to how continuous sound is composed. AudioWorldSim is made publicly available to the research community at https://github.com/Luizerko/AudioWorldSim to facilitate reproducibility.
Figures & tables
Figure 1: Visual and auditory breakdown of an agent’s navigation. The physical trajectory along the NavMesh (left) illustrates the agent’s path from its initial state (blue point) to the sound source (red point), guided by intermediate shortest-path waypoints (green points). Green crosses mark the actual discrete spatial steps taken along this route, while the arrows depict the sequence of rotational adjustments made to align the agent’s orientation before it starts with translation again. This physical movement correlates directly with the acoustic energy captured in the left and right ear Mel spectrograms (right). Notice the interaural volume differences, such as the prominent vertical bands visible in the left ear spectrogram, when the agent rounds a corner.
Figure 2: Comparison of output acoustic features segmented by discrete agent actions. A segment of the generated Mel spectrogram (left), which prioritizes spectral frequency resolution, and a segment of the raw STFT output (right), designed to preserve phase information essential for the spatial understanding capabilities of audio-based world models.
Figure 3: Mel spectrogram comparison of continuous audio synthesis. In the original implementation (left), temporal misalignment between unequal IRs causes vertical artifact lines (clicking sounds) between some simulation steps. Our corrected AudioWorldSim implementation utilizes proper zero-padding (right), resulting in a artifact-free audio continuum.