b'Dhruv Batra'

research

∙ 05/31/2023

Adaptive Coordination in Social Embodied Rearrangement

We present the task of "Social Rearrangement", consisting of cooperative...

0 Andrew Szot, et al. ∙

research

∙ 05/01/2023

IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience

We present IndoorSim-to-OutdoorReal (I2O), an end-to-end learned visual ...

0 Joanne Truong, et al. ∙

research

∙ 04/03/2023

Navigating to Objects Specified by Images

Images are a convenient way to specify which particular object instance ...

0 Jacob Krantz, et al. ∙

research

∙ 04/01/2023

Adaptive Skill Coordination for Robotic Mobile Manipulation

We present Adaptive Skill Coordination (ASC) - an approach for accomplis...

0 Naoki Yokoyama, et al. ∙

research

∙ 03/31/2023

Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?

We present the largest and most comprehensive empirical study of pre-tra...

0 Arjun Majumdar, et al. ∙

research

∙ 03/28/2023

BC-IRL: Learning Generalizable Reward Functions from Demonstrations

How well do reward functions learned with inverse reinforcement learning...

0 Andrew Szot, et al. ∙

research

∙ 03/14/2023

OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNav

We present a single neural network architecture composed of task-agnosti...

0 Karmesh Yadav, et al. ∙

research

∙ 01/30/2023

Emergence of Maps in the Memories of Blind Navigation Agents

Animal navigation research posits that organisms build and maintain inte...

0 Erik Wijmans, et al. ∙

research

∙ 01/18/2023

PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav

We study ObjectGoal Navigation - where a virtual robot situated in a new...

0 Ram Ramrakhya, et al. ∙

research

∙ 12/02/2022

Navigating to Objects in the Real World

Semantic navigation is necessary to deploy mobile robots in uncontrolled...

0 Théophile Gervet, et al. ∙

research

∙ 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...

0 Jacob Krantz, et al. ∙

research

∙ 10/26/2022

ViNL: Visual Navigation and Locomotion Over Obstacles

We present Visual Navigation and Locomotion over obstacles (ViNL), which...

0 Simar Kareer, et al. ∙

research

∙ 10/11/2022

Habitat-Matterport 3D Semantics Dataset

We present the Habitat-Matterport 3D Semantics (HM3DSEM) dataset. HM3DSE...

9 Karmesh Yadav, et al. ∙

research

∙ 10/11/2022

VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement

We present Variable Experience Rollout (VER), a technique for efficientl...

23 Erik Wijmans, et al. ∙

research

∙ 07/21/2022

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

If we want to train robots in simulation before deploying them in realit...

0 Joanne Truong, et al. ∙

research

∙ 06/24/2022

ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings

We present a scalable approach for learning open-world object-goal navig...

4 Arjun Majumdar, et al. ∙

research

∙ 06/16/2022

SoundSpaces 2.0: A Simulation Platform for Visual-Acoustic Learning

We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based a...

0 Changan Chen, et al. ∙

research

∙ 06/02/2022

Is Mapping Necessary for Realistic PointGoal Navigation?

Can an autonomous agent navigate in a new environment without building a...

2 Ruslan Partsey, et al. ∙

research

∙ 05/22/2022

Housekeep: Tidying Virtual Households using Commonsense Reasoning

We introduce Housekeep, a benchmark to evaluate commonsense reasoning in...

9 Yash Kant, et al. ∙

research

∙ 05/03/2022

Episodic Memory Question Answering

Egocentric augmented reality devices such as wearable glasses passively ...

3 Samyak Datta, et al. ∙

research

∙ 04/27/2022

Offline Visual Representation Learning for Embodied Navigation

How should we learn visual representations for embodied agents that must...

0 Karmesh Yadav, et al. ∙

research

∙ 04/07/2022

Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale

We present a large-scale study of imitating human demonstrations on task...

2 Ram Ramrakhya, et al. ∙

research

∙ 04/06/2022

Simple and Effective Synthesis of Indoor 3D Scenes

We study the problem of synthesizing immersive 3D indoor scenes from one...

5 Jing Yu Koh, et al. ∙

research

∙ 10/27/2021

SOAT: A Scene- and Object-Aware Transformer for Vision-and-Language Navigation

Natural language instructions for visual navigation often use scene desc...

7 Abhinav Moudgil, et al. ∙

research

∙ 10/05/2021

Waypoint Models for Instruction-guided Navigation in Continuous Environments

Little inquiry has explicitly addressed the role of action spaces in lan...

7 Jacob Krantz, et al. ∙

research

∙ 09/22/2021

Learning Robust Agents for Visual Navigation in Dynamic Environments: The Winning Entry of iGibson Challenge 2021

This paper presents an approach for improving navigation in dynamic and ...

10 Naoki Yokoyama, et al. ∙

research

∙ 09/17/2021

Realistic PointGoal Navigation via Auxiliary Losses and Information Bottleneck

We propose a novel architecture and training paradigm for training reali...

6 Guillermo Grande, et al. ∙

research

∙ 09/16/2021

Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI

We present the Habitat-Matterport 3D (HM3D) dataset. HM3D is a large-sca...

4 Santhosh K. Ramakrishnan, et al. ∙

research

∙ 08/26/2021

The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigation

It is fundamental for personal robots to reliably navigate to a specifie...

7 Xiaoming Zhao, et al. ∙

research

∙ 06/28/2021

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

We introduce Habitat 2.0 (H2.0), a simulation platform for training virt...

25 Andrew Szot, et al. ∙

research

∙ 06/26/2021

Model-Advantage Optimization for Model-Based Reinforcement Learning

Model-based Reinforcement Learning (MBRL) algorithms have been tradition...

0 Nirbhay Modhe, et al. ∙

research

∙ 04/08/2021

Auxiliary Tasks and Exploration Enable ObjectNav

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are...

6 Joel Ye, et al. ∙

research

∙ 03/14/2021

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...

19 Naoki Yokoyama, et al. ∙

research

∙ 03/12/2021

Large Batch Simulation for Deep Reinforcement Learning

We accelerate deep reinforcement learning-based training in visually com...

61 Brennan Shacklett, et al. ∙

research

∙ 01/13/2021

Memory-Augmented Reinforcement Learning for Image-Goal Navigation

In this work, we address the problem of image-goal navigation in the con...

15 Lina Mezghani, et al. ∙

research

∙ 12/11/2020

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

PointGoal navigation has seen significant recent interest and progress, ...

14 Erik Wijmans, et al. ∙

research

∙ 11/24/2020

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

Deep reinforcement learning models are notoriously data hungry, yet real...

0 Joanne Truong, et al. ∙

research

∙ 11/24/2020

Learning Navigation Skills for Legged Robots with Learned Robot Embeddings

Navigation policies are commonly learned on idealized cylinder agents in...

0 Joanne Truong, et al. ∙

research

∙ 11/16/2020

Where Are You? Localization from Embodied Dialog

We present Where Are You? (WAY), a dataset of 6k dialogs in which two h...

14 Meera Hahn, et al. ∙

research

∙ 11/07/2020

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

We study the challenging problem of releasing a robot in a previously un...

3 Peter Anderson, et al. ∙

research

∙ 11/03/2020

Rearrangement: A Challenge for Embodied AI

We describe a framework for research and evaluation in Embodied AI. Our ...

2 Dhruv Batra, et al. ∙

research

∙ 10/20/2020

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

Recent research in Visual Question Answering (VQA) has revealed state-of...

9 Sameer Dharur, et al. ∙

research

∙ 10/13/2020

Contrast and Classify: Alternate Training for Robust VQA

Recent Visual Question Answering (VQA) models have shown impressive perf...

2 Yash Kant, et al. ∙

research

∙ 10/02/2020

Semantic MapNet: Building Allocentric SemanticMaps and Representations from Egocentric Views

We study the task of semantic mapping - specifically, an embodied agent ...

1 Vincent Cartillier, et al. ∙

research

∙ 09/07/2020

Integrating Egocentric Localization for More Realistic Point-Goal Navigation Agents

Recent work has presented embodied agents that can navigate to point-goa...

1 Samyak Datta, et al. ∙

research

∙ 07/24/2020

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

Can we develop visually grounded dialog agents that can efficiently adap...

6 Michael Cogswell, et al. ∙

research

∙ 07/23/2020

Spatially Aware Multimodal Transformers for TextVQA

Textual cues are essential for everyday tasks like buying groceries and ...

11 Yash Kant, et al. ∙

research

∙ 07/20/2020

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

We introduce a learning-based approach for room navigation using semanti...

2 Medhini Narasimhan, et al. ∙

research

∙ 07/09/2020

Auxiliary Tasks Speed Up Learning PointGoal Navigation

PointGoal Navigation is an embodied task that requires agents to navigat...

4 Joel Ye, et al. ∙

research

∙ 06/23/2020

ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

We revisit the problem of Object-Goal Navigation (ObjectNav). In its sim...

34 Dhruv Batra, et al. ∙

Dhruv Batra

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