A computer implemented method is provided that includes embedding a received signal in a first modality, re-embedding the embedded received signal of the first modality into a signal of a second modality, and generating an output in the second modality, and based on the output, rendering a signal in the second modality that is configured to be sensed, wherein the embedding, re-embedding and generating applies a model that is trained by performing an adversarial learning operation associated with discriminating actual examples of the target distribution from the generated output, and performing a metric learning operation associated with generating the output having perceptual distances.