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06/20/2023
HomeRobot: Open-Vocabulary Mobile Manipulation
HomeRobot (noun): An affordable compliant robot that navigates homes and...
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06/13/2023
Galactic: Scaling End-to-End Reinforcement Learning for Rearrangement at 100k Steps-Per-Second
We present Galactic, a large-scale simulation and reinforcement-learning...
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04/03/2023
Navigating to Objects Specified by Images
Images are a convenient way to specify which particular object instance ...
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12/02/2022
Navigating to Objects in the Real World
Semantic navigation is necessary to deploy mobile robots in uncontrolled...
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11/29/2022
Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instances
We consider the problem of embodied visual navigation given an image-goa...
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10/11/2022
Habitat-Matterport 3D Semantics Dataset
We present the Habitat-Matterport 3D Semantics (HM3DSEM) dataset. HM3DSE...
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09/06/2022
Multi-skill Mobile Manipulation for Object Rearrangement
We study a modular approach to tackle long-horizon mobile manipulation t...
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01/25/2022
PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learning
State-of-the-art approaches to ObjectGoal navigation rely on reinforceme...
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12/02/2021
Recognizing Scenes from Novel Viewpoints
Humans can perceive scenes in 3D from a handful of 2D views. For AI agen...
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12/02/2021
Differentiable Spatial Planning using Transformers
We consider the problem of spatial path planning. In contrast to the cla...
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12/02/2021
SEAL: Self-supervised Embodied Active Learning using Exploration and 3D Consistency
In this paper, we explore how we can build upon the data and models of I...
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10/12/2021
FILM: Following Instructions in Language with Modular Methods
Recent methods for embodied instruction following are typically trained ...
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06/25/2021
Building Intelligent Autonomous Navigation Agents
Breakthroughs in machine learning in the last decade have led to `digita...
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10/27/2020
Unsupervised Domain Adaptation for Visual Navigation
Advances in visual navigation methods have led to intelligent embodied n...
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10/22/2020
Planning with Submodular Objective Functions
We study planning with submodular objective functions, where instead of ...
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02/04/2019
Embodied Multimodal Multitask Learning
Recent efforts on training visual navigation agents conditioned on langu...
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07/18/2018
On Evaluation of Embodied Navigation Agents
Skillful mobile operation in three-dimensional environments is a primary...
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06/21/2018
Learning Cognitive Models using Neural Networks
A cognitive model of human learning provides information about skills a ...
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06/17/2018
Gated Path Planning Networks
Value Iteration Networks (VINs) are effective differentiable path planni...
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02/19/2018
Global Pose Estimation with an Attention-based Recurrent Network
The ability for an agent to localize itself within an environment is cru...
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01/24/2018
Active Neural Localization
Localization is the problem of estimating the location of an autonomous ...
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01/05/2018
Knowledge-based Word Sense Disambiguation using Topic Models
Word Sense Disambiguation is an open problem in Natural Language Process...
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06/22/2017
Gated-Attention Architectures for Task-Oriented Language Grounding
To perform tasks specified by natural language instructions, autonomous ...
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09/18/2016