An audio device includes a speaker array and a controller for beam-steering audio output by the speaker array to localize sound in different locations in a local area around the audio device. The audio device also includes a microphone array or a set of cameras configured to detect an object, such as a human, in the local area around the audio device. From data captured by the microphone array or the set of cameras, the audio device determines a location of the object in the local area and steers the audio output by the speaker array towards the determined location of the object. As the object moves within the local area, the audio device dynamically steers the audio output to move along with the object.