Gunjan Aggarwal — accepted AI-conference papers

2024

Embodiment Randomization for Cross Embodiment Navigation

Pranav Putta, Gunjan Aggarwal, Roozbeh Mottaghi, Dhruv Batra, Naoki Yokoyama, Joanne Truong +1

IROS 2024poster

We present Embodiment Randomization, a simple, inexpensive, and intuitive technique for training robust behavior policies that can be transferred to multiple robot embodiments. While prior works require real-world data from multiple robots, or complex algorithmic adjustments to address the challenge…

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2022

ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings

Arjun Majumdar, Gunjan Aggarwal, Bhavika Suresh Devnani, Judy Hoffman, Dhruv Batra

NeurIPS 2022accept

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) – the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., “find a sink”). Our approach is entirely zero-shot – i.e., it does not require ObjectNav reward…

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