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Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents.
A frontier-based approach for autonomous exploration
Brian Yamauchi · 1997
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WordNet: An Electronic Lexical Database
Christiane Fellbaum · 1998
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Asynchronous Methods for Deep Reinforcement Learning
Volodymyr Mnih, Adrià Puigdomènech Badia, Mehdi Mirza, Alex Graves, Timothy P. Lillicrap, Tim Harley, David Silver, and Koray Kavukcuoglu · 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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End-to-end driving via conditional imitation learning
Felipe Codevilla, Matthias Müller, Alexey Dosovitskiy, Antonio M. López, and Vladlen Koltun · 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, Matt Deitke, Kiana Ehsani, Daniel Gordon, Yuke Zhu, Aniruddha Kembhavi, Abhinav Kumar Gupta, and Ali Farhadi · 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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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Unpaired Image-to-Image Translation Using Cycle-Consistent Adversarial Networks
Jun-Yan Zhu, Taesung Park, Phillip Isola, and Alexei A. Efros · 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 D. Reid, Stephen Gould, and Anton van den Hengel · 2018
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Oil: Observational imitation learning
G. Li, Matthias Müller, Vincent Casser, Neil G. Smith, Dominik Ludewig Michels, and Bernard Ghanem · 2018
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VirtualHome: Simulating Household Activities via Programs
Xavier Puig, Kevin Ra, Marko Boben, Jiaman Li, Tingwu Wang, Sanja Fidler, and Antonio Torralba · 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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Neural predictive belief representations
Zhaohan Daniel Guo, Mohammad Gheshlaghi Azar, Bilal Piot, Bernardo A Pires, and Rémi Munos · 2019
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English WordNet 2019 - An Open-Source WordNet for English
John P. McCrae, Alexandre Rademaker, Francis Bond, Ewa Rudnicka, and Christiane Fellbaum · 2019
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Imitation learning for agile autonomous driving
Yunpeng Pan, Ching-An Cheng, Kamil Saigol, Keuntaek Lee, Xinyan Yan, Evangelos A. Theodorou, and Byron Boots · 2019
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Habitat: A Platform for Embodied AI Research
Manolis Savva, Jitendra Malik, Devi Parikh, Dhruv Batra, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, and Vladlen Koltun · 2019
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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 · 2020
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Language models are few-shot learners
Tom B. Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, Sandhini Agarwal, Ariel Herbert-Voss, Gretchen Krueger, Tom Henighan, Rewon Child, Aditya Ramesh, Daniel M. Ziegler, Jeffrey Wu, Clemens Winter, Christopher Hesse, Mark Chen, Eric Sigler, Mateusz Litwin, Scott Gray, Benjamin Chess, Jack Clark, Christopher Berner, Sam McCandlish, Alec Radford, Ilya Sutskever, and Dario Amodei · 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 W. Robinson, and Kristen Grauman · 2020
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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, Luca Weihs, Mark Yatskar, and Ali Farhadi · 2020
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Bootstrap latent-predictive representations for multitask reinforcement learning
Zhaohan Daniel Guo, Bernardo Avila Pires, Bilal Piot, Jean-Bastien Grill, Florent Altché, Rémi Munos, and Mohammad Gheshlaghi Azar · 2020
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Deep imitation learning for autonomous vehicles based on convolutional neural networks
Parham Mohsenzadeh Kebria, Abbas Khosravi, Syed Moshfeq Salaken, and Saeid Nahavandi · 2020
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Room-across-room: Multilingual vision-and-language navigation with dense spatiotemporal grounding
Alexander Ku, Peter Anderson, Roma Patel, Eugene Ie, and Jason Baldridge · 2020
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REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments
Yuankai Qi, Qi Wu, Peter Anderson, Xin Wang, William Yang Wang, Chunhua Shen, and Anton van den Hengel · 2020
Cited alongside, same era.
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
Cited alongside, same era.
Allenact: A framework for embodied ai research
Luca Weihs, Jordi Salvador, Klemen Kotar, Unnat Jain, Kuo-Hao Zeng, Roozbeh Mottaghi, and Aniruddha Kembhavi · 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
Cited alongside, same era.
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, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
A survey on imitation learning techniques for end-to-end autonomous vehicles
Luc Le Mero, Dewei Yi, Mehrdad Dianati, and Alexandros Mouzakitis · 2022
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Training language models to follow instructions with human feedback
Long Ouyang, Jeffrey Wu, Xu Jiang, Diogo Almeida, Carroll L. Wainwright, Pamela Mishkin, Chong Zhang, Sandhini Agarwal, Katarina Slama, Alex Ray, John Schulman, Jacob Hilton, Fraser Kelton, Luke Miller, Maddie Simens, Amanda Askell, Peter Welinder, Paul F. Christiano, Jan Leike, and Ryan Lowe · 2022
Later among the works it cites.
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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A Generalist Agent
Scott E. Reed, Konrad Zolna, Emilio Parisotto, Sergio Gómez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, and Nando de Freitas · 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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Cited alongside, same era.
Decision transformer: Reinforcement learning via sequence modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran, Kimin Lee, Aditya Grover, Michael Laskin, Pieter Abbeel, Aravind Srinivas, and Igor Mordatch · 2021
Cited alongside, same era.
Manipulathor: A framework for visual object manipulation
Kiana Ehsani, Winson Han, Alvaro Herrasti, Eli VanderBilt, Luca Weihs, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2021
Cited alongside, same era.
ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation
Chuang Gan, Jeremy Schwartz, Seth Alter, Damian Mrowca, Martin Schrimpf, James Traer, Julian De Freitas, Jonas Kubilius, Abhishek Bhandwaldar, Nick Haber, Megumi Sano, Kuno Kim, Elias Wang, Michael Lingelbach, Aidan Curtis, Kevin T. Feigelis, Daniel Bear, Dan Gutfreund, David D. Cox, Antonio Torralba, James J. DiCarlo, Josh Tenenbaum, Josh H. McDermott, and Dan Yamins · 2021
Cited alongside, same era.
RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer
Daniel Ho, Kanishka Rao, Zhuo Xu, Eric Jang, Mohi Khansari, and Yunfei Bai · 2021
Cited alongside, same era.
Offline Reinforcement Learning as One Big Sequence Modeling Problem
Michael Janner, Qiyang Li, and Sergey Levine · 2021
Cited alongside, same era.
igibson 2.0: Object-centric simulation for robot learning of everyday household tasks
Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese · 2021
Cited alongside, same era.
Pilot: Efficient planning by imitation learning and optimisation for safe autonomous driving
Henry Pulver, Francisco Eiras, Ludovico Carozza, Majd Hawasly, Stefano V Albrecht, and Subramanian Ramamoorthy · 2021
Cited alongside, same era.
Later among the works it cites.
Matthew Chang, Theophile Gervet, Mukul Khanna, Sriram Yenamandra, Dhruv Shah, So Yeon Min, Kavit Shah, Chris Paxton, Saurabh Gupta, Dhruv Batra, et al · 2023
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Collaborating with language models for embodied reasoning
Ishita Dasgupta, Christine Kaeser-Chen, Kenneth Marino, Arun Ahuja, Sheila Babayan, Felix Hill, and Rob Fergus · 2023
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Objaverse: A Universe of Annotated 3D Objects
Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, and Ali Farhadi · 2023
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Phone2Proc: Bringing Robust Robots into Our Chaotic World
Matt Deitke, Rose Hendrix, Ali Farhadi, Kiana Ehsani, and Aniruddha Kembhavi · 2023
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Selective visual representations improve convergence and generalization for embodied ai
Ainaz Eftekhar, Kuo-Hao Zeng, Jiafei Duan, Ali Farhadi, Ani Kembhavi, and Ranjay Krishna · 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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Llm+ p: Empowering large language models with optimal planning proficiency
Bo Liu, Yuqian Jiang, Xiaohan Zhang, Qiang Liu, Shiqi Zhang, Joydeep Biswas, and Peter Stone · 2023
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Dinov2: Learning robust visual features without supervision, 2023
Maxime Oquab, Timothée Darcet, Theo Moutakanni, Huy V. Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, Russell Howes, Po-Yao Huang, Hu Xu, Vasu Sharma, Shang-Wen Li, Wojciech Galuba, Mike Rabbat, Mido Assran, Nicolas Ballas, Gabriel Synnaeve, Ishan Misra, Herve Jegou, Julien Mairal, Patrick Labatut, Armand Joulin, and Piotr Bojanowski · 2023
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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, Vladimir Vondrus, Théophile Gervet, Vincent-Pierre Berges, John M. Turner, Oleksandr Maksymets, Zsolt Kira, Mrinal Kalakrishnan, Jitendra Malik, Devendra Singh Chaplot, Unnat Jain, Dhruv Batra, Akshara Rai, and Roozbeh Mottaghi · 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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Scene Graph Contrastive Learning for Embodied Navigation
Kunal Pratap Singh, Jordi Salvador, Luca Weihs, and Aniruddha Kembhavi · 2023
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Llm-planner: Few-shot grounded planning for embodied agents with large language models
Chan Hee Song, Jiaman Wu, Clayton Washington, Brian M Sadler, Wei-Lun Chao, and Yu Su · 2023
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Chatgpt for robotics: Design principles and model abilities
Sai Vemprala, Rogerio Bonatti, Arthur Bucker, and Ashish Kapoor · 2023
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Zihao Wang, Shaofei Cai, Anji Liu, Xiaojian Ma, and Yitao Liang · 2023
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Is Imitation All You Need? Generalized Decision-Making with Dual-Phase Training
Yao Wei, Yanchao Sun, Ruijie Zheng, Sai Vemprala, Rogerio Bonatti, Shuhang Chen, Ratnesh Madaan, Zhongjie Ba, Ashish Kapoor, and Shuang Ma · 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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Homerobot: Open-vocabulary mobile manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Théophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John M. Turner, Zsolt Kira, Manolis Savva, Angel X. Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, and Chris Paxton · 2023
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Adaptive skill coordination for robotic mobile manipulation
Naoki Yokoyama, Alexander Clegg, Eric Undersander, Sehoon Ha, Dhruv Batra, and Akshara Rai · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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Xu Zhao, Wenchao Ding, Yongqi An, Yinglong Du, Tao Yu, Min Li, Ming Tang, and Jinqiao Wang · 2023
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