6.2k citations · 14.2k across the 134 of their papers we have counts for
17 papers · 1 filter
Cross-Domain Transfer via Semantic Skill Imitation
Karl Pertsch, Ruta Desai, Vikash Kumar +4
We propose an approach for semantic imitation, which uses demonstrations from a source domain, e.g. human videos, to accelerate reinforcement learning (RL) in a different target do…
Navigating to Objects in the Real World
Theophile Gervet, Soumith Chintala, Dhruv Batra +2
Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in r…
Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instances
Jacob Krantz, Stefan Lee, Jitendra Malik +2
We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a loca…
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…
ViNL: Visual Navigation and Locomotion Over Obstacles
Simar Kareer, Naoki Yokoyama, Dhruv Batra +2
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in i…
Retrospectives on the Embodied AI Workshop
Matt Deitke, Dhruv Batra, Yonatan Bisk +36
We present a retrospective on the state of Embodied AI research. Our analysis focuses on 13 challenges presented at the Embodied AI Workshop at CVPR. These challenges are grouped i…
Analysis of Distributed Deep Learning in the Cloud
Aakash Sharma, Vivek M. Bhasi, Sonali Singh +6
We aim to resolve this problem by introducing a comprehensive distributed deep learning (DDL) profiler, which can determine the various execution "stalls" that DDL suffers from whi…
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation
Joanne Truong, Max Rudolph, Naoki Yokoyama +3
If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simu…
Is Mapping Necessary for Realistic PointGoal Navigation?
Ruslan Partsey, Erik Wijmans, Naoki Yokoyama +3
Can an autonomous agent navigate in a new environment without building an explicit map? For the task of PointGoal navigation ('Go to , ') under idealized settings (no RGB-D…
ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings
Arjun Majumdar, Gunjan Aggarwal, Bhavika Devnani +2
We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unex…
SoundSpaces 2.0: A Simulation Platform for Visual-Acoustic Learning
Changan Chen, Carl Schissler, Sanchit Garg +6
We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate hi…
Housekeep: Tidying Virtual Households using Commonsense Reasoning
Yash Kant, Arun Ramachandran, Sriram Yenamandra +4
We introduce Housekeep, a benchmark to evaluate commonsense reasoning in the home for embodied AI. In Housekeep, an embodied agent must tidy a house by rearranging misplaced object…
Episodic Memory Question Answering
Samyak Datta, Sameer Dharur, Vincent Cartillier +4
Egocentric augmented reality devices such as wearable glasses passively capture visual data as a human wearer tours a home environment. We envision a scenario wherein the human com…
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.…
Simple and Effective Synthesis of Indoor 3D Scenes
Jing Yu Koh, Harsh Agrawal, Dhruv Batra +6
We study the problem of synthesizing immersive 3D indoor scenes from one or more images. Our aim is to generate high-resolution images and videos from novel viewpoints, including v…
Searching for extra Higgs bosons via at the Large Hadron Collider
Wei-shu Hou, Rishabh Jain, Chung Kao
We extend heavy Higgs searches at the Large Hadron Collider for by CMS, and by ATLAS and CMS, to study discovery prospects of extra Higgs states in $pp \to H,…