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We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI.
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E Kavraki, Petr Svestka, J-C Latombe, and Mark H Overmars · 1996
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Fast-marching level-set methods for three-dimensional photolithography development
James A Sethian · 1996
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Long short-term memory
Sepp Hochreiter and Jürgen Schmidhuber · 1997
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Brian Yamauchi · 1997
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Ensemble of exemplar-SVMs for object detection and beyond
Tomasz Malisiewicz, Abhinav Gupta, and Alexei A Efros · 2011
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Visual simultaneous localization and mapping: a survey
Jorge Fuentes-Pacheco, José Ruiz-Ascencio, and Juan Rendón-Mancha · 2015
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Faster R-CNN: Towards real-time object detection with region proposal networks
Shaoqing Ren, Kaiming He, Ross Girshick, and Jian Sun · 2015
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Neural module networks
Jacob Andreas, Marcus Rohrbach, Trevor Darrell, and Dan Klein · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Matterport3D: Learning from RGB-D data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niebner, 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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End-to-end navigation in unknown environments using neural networks
Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Daniel D Lee, and Vijay Kumar · 2017
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AI2-Thor: An interactive 3D environment for visual AI
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Curiosity-driven exploration by self-supervised prediction
Deepak Pathak, Pulkit Agrawal, Alexei A Efros, and Trevor Darrell · 2017
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Revisiting IM2GPS in the deep learning era
Nam Vo, Nathan Jacobs, and James Hays · 2017
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PixelNN: Example-based image synthesis
Aayush Bansal, Yaser Sheikh, and Deva Ramanan · 2018
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Visual coreference resolution in visual dialog using neural module networks
Satwik Kottur, Jose M. F. Moura, Devi Parikh, Dhruv Batra, and Marcus Rohrbach · 2018
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Mapping instructions to actions in 3D environments with visual goal prediction
Dipendra Misra, Andrew Bennett, Valts Blukis, Eyvind Niklasson, Max Shatkhin, and Yoav Artzi · 2018
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Gibson Env: real-world perception for embodied agents
Fei Xia, Amir R. Zamir, Zhi-Yang He, Alexander Sax, Jitendra Malik, and Silvio Savarese · 2018
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Learning to explore using Active Neural SLAM
Devendra Singh Chaplot, Dhiraj Gandhi, Saurabh Gupta, Abhinav Gupta, and Ruslan Salakhutdinov · 2019
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Two body problem: Collaborative visual task completion
Unnat Jain, Luca Weihs, Eric Kolve, Mohammad Rastegari, Svetlana Lazebnik, Ali Farhadi, Alexander G Schwing, and Aniruddha Kembhavi · 2019
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Beauty and the beast: Optimal methods meet learning for drone racing
Elia Kaufmann, Mathias Gehrig, Philipp Foehn, René Ranftl, Alexey Dosovitskiy, Vladlen Koltun, and Davide Scaramuzza · 2019
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Self-supervised exploration via disagreement
Deepak Pathak, Dhiraj Gandhi, and Abhinav Gupta · 2019
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Habitat: A platform for embodied AI research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, et al · 2019
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DD-PPO: Learning near-perfect pointgoal navigators from 2.5 billion frames
Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, and Dhruv Batra · 2019
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Online learning of reusable abstract models for object goal navigation
Tommaso Campari, Leonardo Lamanna, Paolo Traverso, Luciano Serafini, and Lamberto Ballan · 2022
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Retrospectives on the embodied AI workshop
Matt Deitke, Dhruv Batra, Yonatan Bisk, Tommaso Campari, Angel X Chang, Devendra Singh Chaplot, Changan Chen, Claudia Pérez D’Arpino, Kiana Ehsani, Ali Farhadi, et al · 2022
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Uncertainty-driven planner for exploration and navigation
Georgios Georgakis, Bernadette Bucher, Anton Arapin, Karl Schmeckpeper, Nikolai Matni, and Kostas Daniilidis · 2022
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Drop the GAN: In defense of patches nearest neighbors as single image generative models
Niv Granot, Ben Feinstein, Assaf Shocher, Shai Bagon, and Michal Irani · 2022
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Simple but effective: CLIP embeddings for embodied AI
Apoorv Khandelwal, Luca Weihs, Roozbeh Mottaghi, and Aniruddha Kembhavi · 2022
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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
Cited alongside, same era.
ObjectNav revisited: On evaluation of embodied agents navigating to objects
Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, and Erik Wijmans · 2020
Cited alongside, same era.
Exploiting scene-specific features for object goal navigation
Tommaso Campari, Paolo Eccher, Luciano Serafini, and Lamberto Ballan · 2020
Cited alongside, same era.
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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Beyond the nav-graph: Vision and language navigation in continuous environments
Jacob Krantz, Erik Wijmans, Arjun Majundar, Dhruv Batra, and Stefan Lee · 2020
Cited alongside, same era.
Occupancy anticipation for efficient exploration and navigation
Santhosh K Ramakrishnan, Ziad Al-Halah, and Kristen Grauman · 2020
Cited alongside, same era.
Multion: Benchmarking semantic map memory using multi-object navigation
Saim Wani, Shivansh Patel, Unnat Jain, Angel Chang, and Manolis Savva · 2020
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Stubborn: A strong baseline for indoor object navigation
Haokuan Luo, Albert Yue, Zhang-Wei Hong, and Pulkit Agrawal · 2022
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Zson: Zero-shot object-goal navigation using multimodal goal embeddings
Arjun Majumdar, Gunjan Aggarwal, Bhavika Devnani, Judy Hoffman, and Dhruv Batra · 2022
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Multi-object navigation with dynamically learned neural implicit representations
Pierre Marza, Laetitia Matignon, Olivier Simonin, and Christian Wolf · 2022
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Simple open-vocabulary object detection
Matthias Minderer, Alexey Gritsenko, Austin Stone, Maxim Neumann, Dirk Weissenborn, Alexey Dosovitskiy, Aravindh Mahendran, Anurag Arnab, Mostafa Dehghani, Zhuoran Shen, et al · 2022
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Is mapping necessary for realistic pointgoal navigation?
Ruslan Partsey, Erik Wijmans, Naoki Yokoyama, Oles Dobosevych, Dhruv Batra, and Oleksandr Maksymets · 2022
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Last-mile embodied visual navigation
Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, and Unnat Jain · 2022
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Habitat challenge 2022
Karmesh Yadav, Santhosh Kumar Ramakrishnan, John Turner, Aaron Gokaslan, Oleksandr Maksymets, Rishabh Jain, Ram Ramrakhya, Angel X Chang, Alexander Clegg, Manolis Savva, Eric Undersander, Devendra Singh Chaplot, and Dhruv Batra · 2022
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Detecting twenty-thousand classes using image-level supervision
Xingyi Zhou, Rohit Girdhar, Armand Joulin, Philipp Krähenbühl, and Ishan Misra · 2022
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Navigating to objects in unseen environments by distance prediction
Minzhao Zhu, Binglei Zhao, and Tao Kong · 2022
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Object goal navigation with recursive implicit maps
Shizhe Chen, Thomas Chabal, Ivan Laptev, and Cordelia Schmid · 2023
Closest in time.
Cows on pasture: Baselines and benchmarks for language-driven zero-shot object navigation
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2023
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Navigating to objects in the real world
Theophile Gervet, Soumith Chintala, Dhruv Batra, Jitendra Malik, and Devendra Singh Chaplot · 2023
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Pirlnav: Pretraining with imitation and rl finetuning for objectnav
Ram Ramrakhya, Dhruv Batra, Erik Wijmans, and Abhishek Das · 2023
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Offline visual representation learning for embodied navigation
Karmesh Yadav, Ram Ramrakhya, Arjun Majumdar, Vincent-Pierre Berges, Sachit Kuhar, Dhruv Batra, Alexei Baevski, and Oleksandr Maksymets · 2023
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