Dhruv Batra

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Facebook ∙ Georgia Institute of Technology ∙ Virginia Polytechnic Institute and State University

Assistant Professor School of Interactive Computing (Georgia Tech) and Research Scientist (Facebook AI Research)

Auxiliary Tasks and Exploration Enable ObjectNav

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are...
04/08/2021 ∙ by Joel Ye, et al. ∙ 6 ∙ share

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Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation

We present Success weighted by Completion Time (SCT), a new metric for e...
03/14/2021 ∙ by Naoki Yokoyama, et al. ∙ 19 ∙ share

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Large Batch Simulation for Deep Reinforcement Learning

We accelerate deep reinforcement learning-based training in visually com...
03/12/2021 ∙ by Brennan Shacklett, et al. ∙ 61 ∙ share

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Memory-Augmented Reinforcement Learning for Image-Goal Navigation

In this work, we address the problem of image-goal navigation in the con...
01/13/2021 ∙ by Lina Mezghani, et al. ∙ 15 ∙ share

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How to Train PointGoal Navigation Agents on a (Sample and Compute) Budget

PointGoal navigation has seen significant recent interest and progress, ...
12/11/2020 ∙ by Erik Wijmans, et al. ∙ 14 ∙ share

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Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents

Deep reinforcement learning models are notoriously data hungry, yet real...
11/24/2020 ∙ by Joanne Truong, et al. ∙ 0 ∙ share

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Learning Navigation Skills for Legged Robots with Learned Robot Embeddings

Navigation policies are commonly learned on idealized cylinder agents in...
11/24/2020 ∙ by Joanne Truong, et al. ∙ 0 ∙ share

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Where Are You? Localization from Embodied Dialog

We present Where Are You? (WAY), a dataset of 6k dialogs in which two h...
11/16/2020 ∙ by Meera Hahn, et al. ∙ 14 ∙ share

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Sim-to-Real Transfer for Vision-and-Language Navigation

We study the challenging problem of releasing a robot in a previously un...
11/07/2020 ∙ by Peter Anderson, et al. ∙ 3 ∙ share

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Rearrangement: A Challenge for Embodied AI

We describe a framework for research and evaluation in Embodied AI. Our ...
11/03/2020 ∙ by Dhruv Batra, et al. ∙ 2 ∙ share

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SOrT-ing VQA Models : Contrastive Gradient Learning for Improved Consistency

Recent research in Visual Question Answering (VQA) has revealed state-of...
10/20/2020 ∙ by Sameer Dharur, et al. ∙ 9 ∙ share

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Contrast and Classify: Alternate Training for Robust VQA

Recent Visual Question Answering (VQA) models have shown impressive perf...
10/13/2020 ∙ by Yash Kant, et al. ∙ 2 ∙ share

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Semantic MapNet: Building Allocentric SemanticMaps and Representations from Egocentric Views

We study the task of semantic mapping - specifically, an embodied agent ...
10/02/2020 ∙ by Vincent Cartillier, et al. ∙ 1 ∙ share

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Integrating Egocentric Localization for More Realistic Point-Goal Navigation Agents

Recent work has presented embodied agents that can navigate to point-goa...
09/07/2020 ∙ by Samyak Datta, et al. ∙ 1 ∙ share

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Dialog without Dialog Data: Learning Visual Dialog Agents from VQA Data

Can we develop visually grounded dialog agents that can efficiently adap...
07/24/2020 ∙ by Michael Cogswell, et al. ∙ 6 ∙ share

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Spatially Aware Multimodal Transformers for TextVQA

Textual cues are essential for everyday tasks like buying groceries and ...
07/23/2020 ∙ by Yash Kant, et al. ∙ 11 ∙ share

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Seeing the Un-Scene: Learning Amodal Semantic Maps for Room Navigation

We introduce a learning-based approach for room navigation using semanti...
07/20/2020 ∙ by Medhini Narasimhan, et al. ∙ 2 ∙ share

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Auxiliary Tasks Speed Up Learning PointGoal Navigation

PointGoal Navigation is an embodied task that requires agents to navigat...
07/09/2020 ∙ by Joel Ye, et al. ∙ 4 ∙ share

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ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

We revisit the problem of Object-Goal Navigation (ObjectNav). In its sim...
06/23/2020 ∙ by Dhruv Batra, et al. ∙ 34 ∙ share

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Improving Vision-and-Language Navigation with Image-Text Pairs from the Web

Following a navigation instruction such as 'Walk down the stairs and sto...
04/30/2020 ∙ by Arjun Majumdar, et al. ∙ 10 ∙ share

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Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments

We develop a language-guided navigation task set in a continuous 3D envi...
04/06/2020 ∙ by Jacob Krantz, et al. ∙ 3 ∙ share

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Analyzing Visual Representations in Embodied Navigation Tasks

Recent advances in deep reinforcement learning require a large amount of...
03/12/2020 ∙ by Erik Wijmans, et al. ∙ 7 ∙ share

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Are We Making Real Progress in Simulated Environments? Measuring the Sim2Real Gap in Embodied Visual Navigation

Does progress in simulation translate to progress in robotics? Specifica...
12/13/2019 ∙ by Abhishek Kadian, et al. ∙ 37 ∙ share

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Large-scale Pretraining for Visual Dialog: A Simple State-of-the-Art Baseline

Prior work in visual dialog has focused on training deep neural models o...
12/05/2019 ∙ by Vishvak Murahari, et al. ∙ 16 ∙ share

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Decentralized Distributed PPO: Solving PointGoal Navigation

We present Decentralized Distributed Proximal Policy Optimization (DD-PP...
11/01/2019 ∙ by Erik Wijmans, et al. ∙ 45 ∙ share

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Improving Generative Visual Dialog by Answering Diverse Questions

Prior work on training generative Visual Dialog models with reinforcemen...
09/23/2019 ∙ by Vishvak Murahari, et al. ∙ 18 ∙ share

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Sequential Latent Spaces for Modeling the Intention During Diverse Image Captioning

Diverse and accurate vision+language modeling is an important goal to re...
08/22/2019 ∙ by Jyoti Aneja, et al. ∙ 12 ∙ share

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ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks

We present ViLBERT (short for Vision-and-Language BERT), a model for lea...
08/06/2019 ∙ by Jiasen Lu, et al. ∙ 9 ∙ share

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Unsupervised Discovery of Decision States for Transfer in Reinforcement Learning

We present a hierarchical reinforcement learning (HRL) or options framew...
07/24/2019 ∙ by Nirbhay Modhe, et al. ∙ 17 ∙ share

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Chasing Ghosts: Instruction Following as Bayesian State Tracking

A visually-grounded navigation instruction can be interpreted as a seque...
07/03/2019 ∙ by Peter Anderson, et al. ∙ 3 ∙ share

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The Replica Dataset: A Digital Replica of Indoor Spaces

We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor s...
06/13/2019 ∙ by Julian Straub, et al. ∙ 4 ∙ share

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SplitNet: Sim2Sim and Task2Task Transfer for Embodied Visual Navigation

We propose SplitNet, a method for decoupling visual perception and polic...
05/18/2019 ∙ by Daniel Gordon, et al. ∙ 0 ∙ share

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Emergence of Compositional Language with Deep Generational Transmission

Consider a collaborative task that requires communication. Two agents ar...
04/19/2019 ∙ by Michael Cogswell, et al. ∙ 12 ∙ share

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Towards VQA Models that can Read

Studies have shown that a dominant class of questions asked by visually ...
04/18/2019 ∙ by Amanpreet Singh, et al. ∙ 12 ∙ share

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Counterfactual Visual Explanations

A counterfactual query is typically of the form 'For situation X, why wa...
04/16/2019 ∙ by Yash Goyal, et al. ∙ 24 ∙ share

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Multi-Target Embodied Question Answering

Embodied Question Answering (EQA) is a relatively new task where an agen...
04/09/2019 ∙ by Licheng Yu, et al. ∙ 6 ∙ share

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Embodied Visual Recognition

Passive visual systems typically fail to recognize objects in the amodal...
04/09/2019 ∙ by Jianwei Yang, et al. ∙ 22 ∙ share

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Embodied Question Answering in Photorealistic Environments with Point Cloud Perception

To help bridge the gap between internet vision-style problems and the go...
04/06/2019 ∙ by Erik Wijmans, et al. ∙ 12 ∙ share

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Habitat: A Platform for Embodied AI Research

We present Habitat, a new platform for research in embodied artificial i...
04/02/2019 ∙ by Manolis Savva, et al. ∙ 58 ∙ share

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CLEVR-Dialog: A Diagnostic Dataset for Multi-Round Reasoning in Visual Dialog

Visual Dialog is a multimodal task of answering a sequence of questions ...
03/07/2019 ∙ by Satwik Kottur, et al. ∙ 18 ∙ share

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Learning Dynamics Model in Reinforcement Learning by Incorporating the Long Term Future

In model-based reinforcement learning, the agent interleaves between mod...
03/05/2019 ∙ by Nan Rosemary Ke, et al. ∙ 14 ∙ share

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Probabilistic Neural-symbolic Models for Interpretable Visual Question Answering

We propose a new class of probabilistic neural-symbolic models, that hav...
02/21/2019 ∙ by Ramakrishna Vedantam, et al. ∙ 25 ∙ share

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Taking a HINT: Leveraging Explanations to Make Vision and Language Models More Grounded

Many vision and language models suffer from poor visual grounding - ofte...
02/11/2019 ∙ by Ramprasaath R. Selvaraju, et al. ∙ 26 ∙ share

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EvalAI: Towards Better Evaluation Systems for AI Agents

We introduce EvalAI, an open source platform for evaluating and comparin...
02/10/2019 ∙ by Deshraj Yadav, et al. ∙ 24 ∙ share

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Embodied Multimodal Multitask Learning

Recent efforts on training visual navigation agents conditioned on langu...
02/04/2019 ∙ by Devendra Singh Chaplot, et al. ∙ 36 ∙ share

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Audio-Visual Scene-Aware Dialog

We introduce the task of scene-aware dialog. Given a follow-up question ...
01/25/2019 ∙ by Huda Alamri, et al. ∙ 48 ∙ share

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Response to "Visual Dialogue without Vision or Dialogue" (Massiceti et al., 2018)

In a recent workshop paper, Massiceti et al. presented a baseline model ...
01/16/2019 ∙ by Abhishek Das, et al. ∙ 12 ∙ share

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Dialog System Technology Challenge 7

This paper introduces the Seventh Dialog System Technology Challenges (D...
01/11/2019 ∙ by Koichiro Yoshino, et al. ∙ 0 ∙ share

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nocaps: novel object captioning at scale

Image captioning models have achieved impressive results on datasets con...
12/20/2018 ∙ by Harsh Agrawal, et al. ∙ 46 ∙ share

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Fabrik: An Online Collaborative Neural Network Editor

We present Fabrik, an online neural network editor that provides tools t...
10/27/2018 ∙ by Utsav Garg, et al. ∙ 0 ∙ share

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Dhruv Batra

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