3 code implementations • 19 Oct 2023 • Xavier Puig, Eric Undersander, Andrew Szot, Mikael Dallaire Cote, Tsung-Yen Yang, Ruslan Partsey, Ruta Desai, Alexander William Clegg, Michal Hlavac, So Yeon Min, Vladimír Vondruš, Theophile Gervet, Vincent-Pierre Berges, John M. Turner, Oleksandr Maksymets, Zsolt Kira, Mrinal Kalakrishnan, Jitendra Malik, Devendra Singh Chaplot, Unnat Jain, Dhruv Batra, Akshara Rai, Roozbeh Mottaghi
We present Habitat 3. 0: a simulation platform for studying collaborative human-robot tasks in home environments.
no code implementations • 20 Jun 2023 • Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X. Chang, Manolis Savva
Surprisingly, we observe that agents trained on just 122 scenes from our dataset outperform agents trained on 10, 000 scenes from the ProcTHOR-10K dataset in terms of zero-shot generalization in real-world scanned environments.
1 code implementation • CVPR 2023 • Vincent-Pierre Berges, Andrew Szot, Devendra Singh Chaplot, Aaron Gokaslan, Roozbeh Mottaghi, Dhruv Batra, Eric Undersander
Specifically, a Fetch robot (equipped with a mobile base, 7DoF arm, RGBD camera, egomotion, and onboard sensing) is spawned in a home environment and asked to rearrange objects - by navigating to an object, picking it up, navigating to a target location, and then placing the object at the target location.
no code implementations • 6 Jul 2022 • Vidhi Jain, Yixin Lin, Eric Undersander, Yonatan Bisk, Akshara Rai
Every home is different, and every person likes things done in their particular way.
no code implementations • CVPR 2022 • Ram Ramrakhya, Eric Undersander, Dhruv Batra, Abhishek Das
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. 'find & go to a chair') and (2) Pick&Place (e. g. 'find mug, pick mug, find counter, place mug on counter').
2 code implementations • 16 Sep 2021 • Santhosh K. Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X. Chang, Manolis Savva, Yili Zhao, Dhruv Batra
When compared to existing photorealistic 3D datasets such as Replica, MP3D, Gibson, and ScanNet, images rendered from HM3D have 20 - 85% higher visual fidelity w. r. t.
6 code implementations • NeurIPS 2021 • Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra
We introduce Habitat 2. 0 (H2. 0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios.
no code implementations • 25 Feb 2021 • Yixin Lin, Austin S. Wang, Eric Undersander, Akshara Rai
Manipulation tasks, like loading a dishwasher, can be seen as a sequence of spatial constraints and relationships between different objects.
no code implementations • ICLR 2018 • Sharan Narang, Eric Undersander, Gregory Diamos
Even though sparse operations need less compute and memory relative to their dense counterparts, the speed-up observed by using sparse operations is less than expected on different hardware platforms.