7 accepted papers
The Embodied AI community has recently made significant strides in visual navigation tasks exploring targets from 3D coordinates objects language description and images. However these navigation models often handle only a single input modality as the target. With the progress achieved so far it is t…
In deployment scenarios such as homes and warehouses, mobile robots are expected to autonomously navigate for extended periods, seamlessly executing tasks articulated in terms that are intuitively understandable by human operators. We present GO To Any Thing (GOAT), a universal navigation system cap…
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…
3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically demands high-resolution 3D feature grids that are computationa…
We present ChainedDiffuser, a policy architecture that unifies action keypose prediction and trajectory diffusion generation for learning robot manipulation from demonstrations. Our main innovation is to use a global transformer-based action predictor to predict actions at keyframes, a task that req…
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…
Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform this task in both simulation and the real world. Our modula…