Dhruv Batra

収録論文 48本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• HM3D-OVON: オープンボキャブラリ物体目標ナビゲーションのデータセットとベンチマーク
  ナビゲーション2024/9/1

  HM3DSemを基に379カテゴリ・1.5万以上の物体注釈を備えた大規模ObjectNavベンチマークを構築し、自由記述の言語で指定された任意物体を探索するオープンボキャブラリナビゲーション手法を評価・比較した。

• 家庭内でのオープンワールド移動マニピュレーションに向けて：NeurIPS 2023 HomeRobotオープン語彙移動マニピュレーションチャレンジからの教訓
  移動マニピュレーション2024/7/1

  家庭環境で任意の物体を見つけて任意の場所に置くオープン語彙移動マニピュレーションのベンチマークを提案し、NeurIPS 2023コンペを実施。シミュレーションと実世界で評価し、成功チームに共通するエラー検出・回復と知覚・意思決定の統合の重要性を示した。

• 事前学習済みテキスト画像拡散モデルは制御のための万能な表現学習器である
  VLA2024/5/1

  テキストから画像を生成する拡散モデルの内部表現を制御ポリシー学習に転用し、操作・ナビゲーションタスクで既存手法に匹敵する性能を達成した。

• GOAT-Bench: マルチモーダル生涯ナビゲーションのベンチマーク
  ナビゲーション2024/4/1

  カテゴリ名・言語記述・画像など様々な形式の目標に対応する万能ナビゲーションタスク「GOAT」のベンチマークを提案し、RLやモジュラー手法を評価した。

• Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
  2023/12/1
• VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation
  2023/12/1
• GOAT: GO to Any Thing
  2023/11/1
• What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?
  2023/10/1
• Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots
  2023/10/1
• Adaptive Coordination in Social Embodied Rearrangement
  2023/6/1
• HomeRobot: Open-Vocabulary Mobile Manipulation
  2023/6/1
• Galactic: Scaling End-to-End Reinforcement Learning for Rearrangement at 100k Steps-Per-Second
  2023/6/1
• IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience
  2023/5/1
• AutoNeRF: Training Implicit Scene Representations with Autonomous Agents
  2023/4/1
• Navigating to Objects Specified by Images
  2023/4/1
• ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
  2023/4/1
• Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?
  2023/3/1
• PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav
  2023/1/1
• Emergence of Maps in the Memories of Blind Navigation Agents
  2023/1/1
• Cross-Domain Transfer via Semantic Skill Imitation
  2022/12/1
• Navigating to Objects in the Real World
  2022/12/1
• ViNL: Visual Navigation and Locomotion Over Obstacles
  2022/10/1
• VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement
  2022/10/1
• Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation
  2022/7/1
• ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings
  2022/6/1
• Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale
  2022/4/1
• Waypoint Models for Instruction-guided Navigation in Continuous Environments
  2021/10/1
• Realistic PointGoal Navigation via Auxiliary Losses and Information Bottleneck
  2021/9/1
• Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge
  2021/9/1
• Habitat 2.0: Training Home Assistants to Rearrange their Habitat
  2021/6/1
• Auxiliary Tasks and Exploration Enable ObjectNav
  2021/4/1
• Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation
  2021/3/1
• Memory-Augmented Reinforcement Learning for Image-Goal Navigation
  2021/1/1
• How to Train PointGoal Navigation Agents on a (Sample and Compute) Budget
  2020/12/1
• Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents
  2020/11/1
• Rearrangement: A Challenge for Embodied AI
  2020/11/1
• Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
  2020/11/1
• Sim-to-Real Transfer for Vision-and-Language Navigation
  2020/11/1
• Auxiliary Tasks Speed Up Learning PointGoal Navigation
  2020/7/1
• Seeing the Un-Scene: Learning Amodal Semantic Maps for Room Navigation
  2020/7/1
• ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects
  2020/6/1
• Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments
  2020/4/1
• Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
  2019/12/1
• Chasing Ghosts: Instruction Following as Bayesian State Tracking
  2019/7/1
• Embodied Visual Recognition
  2019/4/1
• Habitat: A Platform for Embodied AI Research
  2019/4/1
• Embodied Multimodal Multitask Learning
  2019/2/1
• Visual Curiosity: Learning to Ask Questions to Learn Visual Recognition
  2018/10/1