John M Turner — 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

Habitat 3.0: A Co-Habitat for Humans, Avatars, and Robots

Xavier Puig, Eric Undersander, Andrew Szot, Mikael Dallaire Cote, Tsung-Yen Yang, Ruslan Partsey +17

ICLR 2024poster

We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling complex deformable bodies and diversity in appearance and mot…

Cited by 111 Source ↗PDF ↗Scholar ↗

2023

HomeRobot: Open-Vocabulary Mobile Manipulation

Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S Wang, Mukul Khanna, Theophile Gervet +12

CoRL 2023poster

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This i…

Cited by 98 Source ↗code ↗Scholar ↗

2021

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John M Turner +15

NeurIPS 2021spotlight

We introduce Habitat 2.0 (H2.0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios. We make comprehensive contributions to all levels of the embodied AI stack – data, simulation, and benchmark tasks. Specifically, we present: (i) R…

Cited by 579 Source ↗PDF ↗code ↗Scholar ↗

2021

Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI

Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M Turner +7

NeurIPS 2021poster

We present the Habitat-Matterport 3D (HM3D) dataset. HM3D is a large-scale dataset of 1,000 building-scale 3D reconstructions from a diverse set of real-world locations. Each scene in the dataset consists of a textured 3D mesh reconstruction of interiors such as multi-ﬂoor residences, stores, and ot…

Cited by 434 Source ↗code ↗Scholar ↗