24 citations · 45 across the 8 of their papers we have counts for
8 papers
GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation
Mukul Khanna, Ram Ramrakhya, Gunjan Chhablani +7
The Embodied AI community has made significant strides in visual navigation tasks, exploring targets from 3D coordinates, objects, language descriptions, and images. However, these…
Seeing the Unseen: Visual Common Sense for Semantic Placement
Ram Ramrakhya, Aniruddha Kembhavi, Dhruv Batra +3
Computer vision tasks typically involve describing what is present in an image (e.g. classification, detection, segmentation, and captioning). We study a visual common sense task t…
OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNav
Karmesh Yadav, Arjun Majumdar, Ram Ramrakhya +5
We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to…
PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav
Ram Ramrakhya, Dhruv Batra, Erik Wijmans +1
We study ObjectGoal Navigation -- where a virtual robot situated in a new environment is asked to navigate to an object. Prior work has shown that imitation learning (IL) using beh…
Habitat-Matterport 3D Semantics Dataset
Karmesh Yadav, Ram Ramrakhya, Santhosh Kumar Ramakrishnan +9
We present the Habitat-Matterport 3D Semantics (HM3DSEM) dataset. HM3DSEM is the largest dataset of 3D real-world spaces with densely annotated semantics that is currently availabl…
Offline Visual Representation Learning for Embodied Navigation
Karmesh Yadav, Ram Ramrakhya, Arjun Majumdar +5
How should we learn visual representations for embodied agents that must see and move? The status quo is tabula rasa in vivo, i.e. learning visual representations from scratch whil…
Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale
Ram Ramrakhya, Eric Undersander, Dhruv Batra +1
We present a large-scale study of imitating human demonstrations on tasks that require a virtual robot to search for objects in new environments -- (1) ObjectGoal Navigation (e.g.…
Fabrik: An Online Collaborative Neural Network Editor
Utsav Garg, Viraj Prabhu, Deshraj Yadav +3
We present Fabrik, an online neural network editor that provides tools to visualize, edit, and share neural networks from within a browser. Fabrik provides a simple and intuitive G…