96 citations · 183 across the 10 of their papers we have counts for
10 papers
PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks
Matthew Chang, Gunjan Chhablani, Alexander Clegg +17
We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhib…
Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots
Xavier Puig, Eric Undersander, Andrew Szot +20
We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accur…
Galactic: Scaling End-to-End Reinforcement Learning for Rearrangement at 100k Steps-Per-Second
Vincent-Pierre Berges, Andrew Szot, Devendra Singh Chaplot +4
We present Galactic, a large-scale simulation and reinforcement-learning (RL) framework for robotic mobile manipulation in indoor environments. Specifically, a Fetch robot (equippe…
Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigation
Mukul Khanna, Yongsen Mao, Hanxiao Jiang +7
We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high-quality 3D scenes, and use it to test navigation agent generalization to realistic 3D environments. Our dat…
ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
Naoki Yokoyama, Alex Clegg, Joanne Truong +6
We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating t…
Transformers are Adaptable Task Planners
Vidhi Jain, Yixin Lin, Eric Undersander +2
Every home is different, and every person likes things done in their particular way. Therefore, home robots of the future need to both reason about the sequential nature of day-to-…