384 citations · 818 across the 11 of their papers we have counts for
5 papers · 1 filter
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan +6
Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine thi…
DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames
Erik Wijmans, Abhishek Kadian, Ari Morcos +5
We present Decentralized Distributed Proximal Policy Optimization (DD-PPO), a method for distributed reinforcement learning in resource-intensive simulated environments. DD-PPO is…
The Replica Dataset: A Digital Replica of Indoor Spaces
Julian Straub, Thomas Whelan, Lingni Ma +27
We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-d…
Embodied Question Answering in Photorealistic Environments with Point Cloud Perception
Erik Wijmans, Samyak Datta, Oleksandr Maksymets +6
To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answe…
Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets +9
We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3…