Search Results for author: Erik Wijmans

Found 22 papers, 13 papers with code

Realistic PointGoal Navigation via Auxiliary Losses and Information Bottleneck

1 code implementation17 Sep 2021 Guillermo Grande, Dhruv Batra, Erik Wijmans

Under this setting, the agent incurs a penalty for using this privileged information, encouraging the agent to only leverage this information when it is crucial to learning.

PointGoal Navigation

Megaverse: Simulating Embodied Agents at One Million Experiences per Second

1 code implementation17 Jul 2021 Aleksei Petrenko, Erik Wijmans, Brennan Shacklett, Vladlen Koltun

We present Megaverse, a new 3D simulation platform for reinforcement learning and embodied AI research.

Large Batch Simulation for Deep Reinforcement Learning

1 code implementation ICLR 2021 Brennan Shacklett, Erik Wijmans, Aleksei Petrenko, Manolis Savva, Dhruv Batra, Vladlen Koltun, Kayvon Fatahalian

We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19, 000 frames of experience per second on a single GPU and up to 72, 000 frames per second on a single eight-GPU machine.

PointGoal Navigation

THDA: Treasure Hunt Data Augmentation for Semantic Navigation

no code implementations ICCV 2021 Oleksandr Maksymets, Vincent Cartillier, Aaron Gokaslan, Erik Wijmans, Wojciech Galuba, Stefan Lee, Dhruv Batra

We show that this is a natural consequence of optimizing for the task metric (which in fact penalizes exploration), is enabled by powerful observation encoders, and is possible due to the finite set of training environment configurations.

Data Augmentation PointGoal Navigation

Auxiliary Tasks and Exploration Enable ObjectGoal Navigation

no code implementations ICCV 2021 Joel Ye, Dhruv Batra, Abhishek Das, Erik Wijmans

We instead re-enable a generic learned agent by adding auxiliary learning tasks and an exploration reward.

Auxiliary Learning

How to Train PointGoal Navigation Agents on a (Sample and Compute) Budget

no code implementations11 Dec 2020 Erik Wijmans, Irfan Essa, Dhruv Batra

PointGoal navigation has seen significant recent interest and progress, spurred on by the Habitat platform and associated challenge.

PointGoal Navigation

Auxiliary Tasks Speed Up Learning PointGoal Navigation

1 code implementation9 Jul 2020 Joel Ye, Dhruv Batra, Erik Wijmans, Abhishek Das

PointGoal Navigation is an embodied task that requires agents to navigate to a specified point in an unseen environment.

PointGoal Navigation

ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

3 code implementations23 Jun 2020 Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, Erik Wijmans

In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e. g., find a chair, by navigating to it.

Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments – Extended Abstract

no code implementations ICML Workshop LaReL 2020 Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, Stefan Lee

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions.

Vision and Language Navigation

Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments

3 code implementations ECCV 2020 Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, Stefan Lee

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions.

Vision and Language Navigation

Analyzing Visual Representations in Embodied Navigation Tasks

no code implementations12 Mar 2020 Erik Wijmans, Julian Straub, Dhruv Batra, Irfan Essa, Judy Hoffman, Ari Morcos

Recent advances in deep reinforcement learning require a large amount of training data and generally result in representations that are often over specialized to the target task.

Insights on Visual Representations for Embodied Navigation Tasks

no code implementations ICLR 2020 Erik Wijmans, Julian Straub, Irfan Essa, Dhruv Batra, Judy Hoffman, Ari Morcos

Surprisingly, we find that slight differences in task have no measurable effect on the visual representation for both SqueezeNet and ResNet architectures.

DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames

6 code implementations ICLR 2020 Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, Dhruv Batra

We leverage this scaling to train an agent for 2. 5 Billion steps of experience (the equivalent of 80 years of human experience) -- over 6 months of GPU-time training in under 3 days of wall-clock time with 64 GPUs.

Autonomous Navigation Fine-tuning +2

Embodied Question Answering in Photorealistic Environments with Point Cloud Perception

no code implementations CVPR 2019 Erik Wijmans, Samyak Datta, Oleksandr Maksymets, Abhishek Das, Georgia Gkioxari, Stefan Lee, Irfan Essa, Devi Parikh, Dhruv Batra

To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answering [1] in photo-realistic environments (Matterport 3D).

Embodied Question Answering Question Answering

Exploiting 2D Floorplan for Building-scale Panorama RGBD Alignment

1 code implementation CVPR 2017 Erik Wijmans, Yasutaka Furukawa

To the best of our knowledge, we present the first effective system that utilizes a 2D floorplan image for building-scale 3D pointcloud alignment.

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