6 accepted papers
Vision-language models trained with contrastive learning on large-scale noisy data are becoming increasingly popular for zero-shot recognition problems. In this paper we improve the following three aspects of the contrastive pre-training pipeline: dataset noise, model initialization and the training…
Object models are gradually progressing from predicting just category labels to providing detailed descriptions of object instances. This motivates the need for large datasets which go beyond traditional object masks and provide richer annotations such as part masks and attributes. Hence, we introdu…
We present Decentralized Distributed Proximal Policy Optimization (DD-PPO), a method for distributed reinforcement learning in resource-intensive simulated environments. DD-PPO is distributed (uses multiple machines), decentralized (lacks a centralized server), and synchronous (no computation is eve…
Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation - developing engineering tools and a research paradigm for evaluating a sim
We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i) Habitat-Sim: a flexible, high-performance 3D simulator with configu…
We propose SplitNet, a method for decoupling visual perception and policy learning. By incorporating auxiliary tasks and selective learning of portions of the model, we explicitly decompose the learning objectives for visual navigation into perceiving the world and acting on that perception. We show…