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cs.RO2025
The One RING: a Robotic Indoor Navigation Generalist
Ainaz Eftekhar, Rose Hendrix, Luca Weihs +11
Modern robots vary significantly in shape, size, and sensor configurations used to perceive and interact with their environments. However, most navigation policies are embodiment-s…
cs.RO2024
SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World
Kiana Ehsani, Tanmay Gupta, Rose Hendrix +11
Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents…
cs.RO2024
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani +6
We present PoliFormer (Policy Transformer), an RGB-only indoor navigation agent trained end-to-end with reinforcement learning at scale that generalizes to the real-world without a…