Joanne Truong — accepted AI-conference papers

2025

PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks

Matthew Chang, Gunjan Chhablani, Alexander Clegg, Mikael Dallaire Cote, Ruta Desai, Michal Hlavac +14

ICLR 2025poster

We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhibit characteristics of everyday tasks, such as spatial, temporal, and heterogeneous agent capability constraints. We empl…

Cited by 5 Source ↗PDF ↗code ↗Scholar ↗

2024

ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation

Naoki Yokoyama, Alexander Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud +3

RA-L 2024

We present Adaptive Skill Coordination (ASC) – an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three components – (1) a library of basic visuomotor <italic xmlns:m

Cited by 74 Source ↗Scholar ↗

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…

Cited by 0 Source ↗Scholar ↗

2024

IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors Without Any Outdoor Experience

Joanne Truong, April Zitkovich, Sonia Chernova, Dhruv Batra, Tingnan Zhang, Jie Tan +1

RA-L 2024

We present IndoorSim-to-OutdoorReal (I2O), an end-to-end learned visual navigation approach, trained solely in simulated short-range indoor environments, and demonstrate zero-shot sim-to-real transfer to the outdoors for long-range navigation on the Spot robot. Our method uses zero real-world experi

Cited by 19 Source ↗Scholar ↗

2023

ViNL: Visual Navigation and Locomotion Over Obstacles

Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong

ICRA 2023poster

We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans and pets lift their feet over objects as they walk. ViNL cons…

Cited by 29 Source ↗code ↗Scholar ↗

2022

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

Joanne Truong, Max Rudolph, Naoki Harrison Yokoyama, Sonia Chernova, Dhruv Batra, Akshara Rai

CoRL 2022poster

If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is). We challenge this assumption and present a contrary hypothe…

Cited by 47 Source ↗Scholar ↗

2021

Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents

Joanne Truong, Sonia Chernova, Dhruv Batra

RA-L 2021

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real environment. Simulation offers the ability to train large number

Cited by 71 Source ↗Scholar ↗

2021

Learning Navigation Skills for Legged Robots with Learned Robot Embeddings

Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra +1

IROS 2021poster

Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their complex dynamics, and the large dynamical difference between cyl…

Cited by 21 Source ↗Scholar ↗

2020

Sim-to-Real Transfer for Vision-and-Language Navigation

Peter Anderson, Ayush Shrivastava, Joanne Truong, Arjun Majumdar, Devi Parikh, Dhruv Batra +1

CoRL 2020

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has achieved significant progress in simulation. To assess the implic

Cited by 0 Source ↗PDF ↗code ↗Scholar ↗

2020

Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?

Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee +3

RA-L 2020

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

Cited by 252 Source ↗Scholar ↗