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We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high-quality 3D scenes, and use it to test navigation agent generalization to realistic 3D environments.
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Surface simplification using quadric error metrics
Michael Garland and Paul S Heckbert · 1997
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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 · 2006
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ImageNet: A large-scale hierarchical image database
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3D-Future: 3D Furniture shape with TextURE
Huan Fu, Rongfei Jia, Lin Gao, Mingming Gong, Binqiang Zhao, Steve Maybank, and Dacheng Tao · 2009
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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 · 2011
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3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics
Huan Fu, Bowen Cai, Lin Gao, Lingxiao Zhang, Cao Li, Zengqi Xun, Chengyue Sun, Yiyun Fei, Yu Zheng, Ying Li, et al · 2011
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ShapeNet: An Information-Rich 3D Model Repository
Angel X. Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, and Fisher Yu · 2015
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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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GANs trained by a two time-scale update rule converge to a local Nash equilibrium
Martin Heusel, Hubert Ramsauer, Thomas Unterthiner, Bernhard Nessler, and Sepp Hochreiter · 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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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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Demystifying MMD GANs
Mikołaj Bińkowski, Danica J Sutherland, Michael Arbel, and Arthur Gretton · 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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Visual representations for semantic target driven navigation
Arsalan Mousavian, Alexander Toshev, Marek Fišer, Jana Košecká, Ayzaan Wahid, and James Davidson · 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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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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RoboTHOR: An open simulation-to-real embodied AI platform
Auxiliary tasks and exploration enable objectgoal navigation
Joel Ye, Dhruv Batra, Abhishek Das, and Erik Wijmans · 2021
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Zero experience required: Plug & play modular transfer learning for semantic visual navigation
Ziad Al-Halah, Santhosh Kumar Ramakrishnan, and Kristen Grauman · 2022
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Navigating to objects in the real world
Theophile Gervet, Soumith Chintala, Dhruv Batra, Jitendra Malik, and Devendra Singh Chaplot · 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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MultiScan: Scalable RGBD scanning for 3D environments with articulated objects
Yongsen Mao, Yiming Zhang, Hanxiao Jiang, Angel X Chang, and Manolis Savva · 2022
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Matt Deitke, Winson Han, Alvaro Herrasti, Aniruddha Kembhavi, Eric Kolve, Roozbeh Mottaghi, Jordi Salvador, Dustin Schwenk, Eli VanderBilt, Matthew Wallingford, Luca Weihs, Mark Yatskar, and Ali Farhadi · 2020
Cited alongside, same era.
Sim2real predictivity: Does evaluation in simulation predict real-world performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, and Dhruv Batra · 2020
Cited alongside, same era.
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 · 2020
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Thda: Treasure hunt data augmentation for semantic navigation
Oleksandr Maksymets, Vincent Cartillier, Aaron Gokaslan, Erik Wijmans, Wojciech Galuba, Stefan Lee, and Dhruv Batra · 2021
Cited alongside, same era.
Habitat-Matterport 3D dataset (hm3d): 1000 large-scale 3D environments for embodied AI
Santhosh K Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
Cited alongside, same era.
Habitat 2.0: Training home assistants to rearrange their Habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
Cited alongside, same era.
Bi-directional domain adaptation for sim2real transfer of embodied navigation agents
Joanne Truong, Sonia Chernova, and Dhruv Batra · 2021
Cited alongside, same era.
So Yeon Min, Yao-Hung Hubert Tsai, Wei Ding, Ali Farhadi, Ruslan Salakhutdinov, Yonatan Bisk, and Jian Zhang · 2022
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Habitat-web: Learning embodied object-search strategies from human demonstrations at scale
Ram Ramrakhya, Eric Undersander, Dhruv Batra, and Abhishek Das · 2022
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Rethinking sim2real: Lower fidelity simulation leads to higher sim2real transfer in navigation
Joanne Truong, Max Rudolph, Naoki Yokoyama, Sonia Chernova, Dhruv Batra, and Akshara Rai · 2022
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VER: Scaling on-policy RL leads to the emergence of navigation in embodied rearrangement
Erik Wijmans, Irfan Essa, and Dhruv Batra · 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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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, Ruta Desai, Alexander William Clegg, Michal Hlavac, So Yeon Min, et al · 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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Learning agile, vision-based drone flight: From simulation to reality
Davide Scaramuzza and Elia Kaufmann · 2023
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