The audio and video signals need a path from the Apple TV box to the TV in order to see video. The way I do it is Apple TV box to AVR, then AVR to TV, using HDMI. The other way to do it would be Apple TV box to TV, then TV to AVR, using HDMI ARC if your TV has an HDMI ARC connection.
Thanks for that. My Panasonic has HDMI ARC connection, which I already use.