36 citations · 46 across the 4 of their papers we have counts for
5 papers
VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement
Erik Wijmans, Irfan Essa, Dhruv Batra
We present Variable Experience Rollout (VER), a technique for efficiently scaling batched on-policy reinforcement learning in heterogenous environments (where different environment…
Realistic PointGoal Navigation via Auxiliary Losses and Information Bottleneck
Guillermo Grande, Dhruv Batra, Erik Wijmans
We propose a novel architecture and training paradigm for training realistic PointGoal Navigation -- navigating to a target coordinate in an unseen environment under actuation and…
Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
Santhosh K. Ramakrishnan, Aaron Gokaslan, Erik Wijmans +10
We present the Habitat-Matterport 3D (HM3D) dataset. HM3D is a large-scale dataset of 1,000 building-scale 3D reconstructions from a diverse set of real-world locations. Each scene…
Megaverse: Simulating Embodied Agents at One Million Experiences per Second
Aleksei Petrenko, Erik Wijmans, Brennan Shacklett +1
We present Megaverse, a new 3D simulation platform for reinforcement learning and embodied AI research. The efficient design of our engine enables physics-based simulation with hig…
Auxiliary Tasks and Exploration Enable ObjectNav
Joel Ye, Dhruv Batra, Abhishek Das +1
ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNa…