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We introduce a visually-guided and physics-driven task-and-motion planning benchmark, which we call the ThreeDWorld Transport Challenge.
A frontier-based approach for autonomous exploration
Brian Yamauchi · 1997
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Manipulation planning among movable obstacles
Mike Stilman, Jan-Ullrich Schamburek, James Kuffner, and Tamim Asfour · 2007
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Planning among movable obstacles with artificial constraints
Mike Stilman and James Kuffner · 2008
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Path planning among movable obstacles: a probabilistically complete approach
Jur Van Den Berg, Mike Stilman, James Kuffner, Ming Lin, and Dinesh Manocha · 2009
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Combined task and motion planning for mobile manipulation
Jason Andrew Wolfe, Bhaskara Marthi, and Stuart J Russell · 2010
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Hierarchical task and motion planning in the now
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2011
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Integrated task and motion planning in belief space
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2013
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V-rep: A versatile and scalable robot simulation framework
Eric Rohmer, Surya PN Singh, and Marc Freese · 2013
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Combined task and motion planning through an extensible planner-independent interface layer
Siddharth Srivastava, Eugene Fang, Lorenzo Riano, Rohan Chitnis, Stuart Russell, and Pieter Abbeel · 2014
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Ffrob: An efficient heuristic for task and motion planning
Caelan Reed Garrett, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2015
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Charles Beattie, Joel Z Leibo, Denis Teplyashin, Tom Ward, Marcus Wainwright, Heinrich Küttler, Andrew Lefrancq, Simon Green, Víctor Valdés, Amir Sadik, et al · 2016
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Pybullet, a python module for physics simulation for games, robotics and machine learning
Erwin Coumans and Yunfei Bai · 2016
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Matterport3d: Learning from rgb-d data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niessner, Manolis Savva, Shuran Song, Andy Zeng, and Yinda Zhang · 2017
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Cognitive mapping and planning for visual navigation
Saurabh Gupta, James Davidson, Sergey Levine, Rahul Sukthankar, and Jitendra Malik · 2017
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Ai2-thor: An interactive 3d environment for visual ai
Eric Kolve, Roozbeh Mottaghi, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Learning to navigate in complex environments
Piotr Mirowski, Razvan Pascanu, Fabio Viola, Hubert Soyer, Andrew J Ballard, Andrea Banino, Misha Denil, Ross Goroshin, Laurent Sifre, Koray Kavukcuoglu, et al · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Semantic scene completion from a single depth image
Shuran Song, Fisher Yu, Andy Zeng, Angel X Chang, Manolis Savva, and Thomas Funkhouser · 2017
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Target-driven visual navigation in indoor scenes using deep reinforcement learning
Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J Lim, Abhinav Gupta, Li Fei-Fei, and Ali Farhadi · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton van den Hengel · 2018
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Embodied question answering
Abhishek Das, Samyak Datta, Georgia Gkioxari, Stefan Lee, Devi Parikh, and Dhruv Batra · 2018
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IQA: visual question answering in interactive environments
Daniel Gordon, Aniruddha Kembhavi, Mohammad Rastegari, Joseph Redmon, Dieter Fox, and Ali Farhadi · 2018
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Combining optimal control and learning for visual navigation in novel environments
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, and Claire Tomlin · 2020
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Rearrangement: A challenge for embodied ai
Dhruv Batra, Angel X Chang, Sonia Chernova, Andrew J Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, et al · 2020
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Learning to explore using active neural slam
Devendra Singh Chaplot, Dhiraj Gandhi, Saurabh Gupta, Abhinav Gupta, and Ruslan Salakhutdinov · 2020
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Object goal navigation using goal-oriented semantic exploration
Devendra Singh Chaplot, Dhiraj Prakashchand Gandhi, Abhinav Gupta, and Russ R Salakhutdinov · 2020
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Soundspaces: Audio-visual navigation in 3d environments
Changan Chen, Unnat Jain, Carl Schissler, Sebastia Vicenc Amengual Gari, Ziad Al-Halah, Vamsi Krishna Ithapu, Philip Robinson, and Kristen Grauman · 2020
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Xavier Puig, Kevin Ra, Marko Boben, Jiaman Li, Tingwu Wang, Sanja Fidler, and Antonio Torralba · 2018
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Semi-parametric topological memory for navigation
Nikolay Savinov, Alexey Dosovitskiy, and Vladlen Koltun · 2018
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Look before you leap: Bridging model-free and model-based reinforcement learning for planned-ahead vision-and-language navigation
Xin Wang, Wenhan Xiong, Hongmin Wang, and William Yang Wang · 2018
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Active model learning and diverse action sampling for task and motion planning
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, and Tomás Lozano-Pérez · 2018
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Building generalizable agents with a realistic and rich 3d environment
Yi Wu, Yuxin Wu, Georgia Gkioxari, and Yuandong Tian · 2018
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Gibson env: Real-world perception for embodied agents
Fei Xia, Amir R Zamir, Zhiyang He, Alexander Sax, Jitendra Malik, and Silvio Savarese · 2018
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The animal-ai environment: Training and testing animal-like artificial cognition
Benjamin Beyret, José Hernández-Orallo, Lucy Cheke, Marta Halina, Murray Shanahan, and Matthew Crosby · 2019
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Robothor: An open simulation-to-real embodied ai platform
Matt Deitke, Winson Han, Alvaro Herrasti, Aniruddha Kembhavi, Eric Kolve, Roozbeh Mottaghi, Jordi Salvador, Dustin Schwenk, Eli VanderBilt, Matthew Wallingford, et al · 2020
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Threedworld: A platform for interactive multi-modal physical simulation
Chuang Gan, Jeremy Schwartz, Seth Alter, Martin Schrimpf, James Traer, Julian De Freitas, Jonas Kubilius, Abhishek Bhandwaldar, Nick Haber, Megumi Sano, et al · 2020
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Look, listen, and act: Towards audio-visual embodied navigation
Chuang Gan, Yiwei Zhang, Jiajun Wu, Boqing Gong, and Joshua B Tenenbaum · 2020
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Integrated task and motion planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez · 2020
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Occupancy anticipation for efficient exploration and navigation
Santhosh K Ramakrishnan, Ziad Al-Halah, and Kristen Grauman · 2020
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Alfred: A benchmark for interpreting grounded instructions for everyday tasks
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox · 2020
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Relmogen: Leveraging motion generation in reinforcement learning for mobile manipulation
Fei Xia, Chengshu Li, Roberto Martín-Martín, Or Litany, Alexander Toshev, and Silvio Savarese · 2020
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Interactive gibson benchmark: A benchmark for interactive navigation in cluttered environments
Fei Xia, William B Shen, Chengshu Li, Priya Kasimbeg, Micael Edmond Tchapmi, Alexander Toshev, Roberto Martín-Martín, and Silvio Savarese · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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Grounding physical concepts of objects and events through dynamic visual reasoning
Zhenfang Chen, Jiayuan Mao, Jiajun Wu, Kwan-Yee Kenneth Wong, Joshua B Tenenbaum, and Chuang Gan · 2021
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