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Interactive Gibson Benchmark: A Benchmark for Interactive Navigation in Cluttered Environments
- F. Xia, Bokui (William) Shen, S. Savarese
- Computer ScienceIEEE Robotics and Automation Letters
- 30 October 2019
This work presents the first comprehensive benchmark for training and evaluating Interactive Navigation solutions, and presents and evaluates multiple learning-based baselines in Interactive Gibson Benchmark, and provides insights into regimes of navigation with different trade-offs between navigation, path efficiency and disturbance of surrounding objects.
iGibson 1.0: A Simulation Environment for Interactive Tasks in Large Realistic Scenes
- Bokui Shen, Fei Xia, S. Savarese
- Computer ScienceIEEE/RJS International Conference on Intelligent…
- 5 December 2020
It is shown that the full interactivity of the scenes enables agents to learn useful visual representations that accelerate the training of downstream manipulation tasks, and that the human-iGibson interface and integrated motion planners facilitate efficient imitation learning of human demonstrated (mobile) manipulation behaviors.
HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators
HRL4IN is proposed, a novel Hierarchical RL architecture for Interactive Navigation tasks that exploits the exploration benefits of HRL over flat RL for long-horizon tasks thanks to temporally extended commitments towards subgoals and significantly outperforms its baselines in terms of task performance and energy efficiency.
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
The new capabilities of iGibson 2.0 are evaluated to enable robot learning of novel tasks, in the hope of demonstrating the potential of this new simulator to support new research in embodied AI.
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
- Sanjana Srivastava, Chengshu Li, Li Fei-Fei
- Computer ScienceConference on Robot Learning
- 6 August 2021
BEHAVIOR is introduced, a benchmark for embodied AI with 100 activities in simulation, spanning a range of everyday household chores such as cleaning, maintenance, and food preparation, and a predicate logic-based description language is proposed, enabling generation of diverse instances for any activity.
ReLMoGen: Integrating Motion Generation in Reinforcement Learning for Mobile Manipulation
- Fei Xia, Chengshu Li, Roberto Mart'in-Mart'in, O. Litany, Alexander Toshev, S. Savarese
- Computer ScienceIEEE International Conference on Robotics and…
- 18 August 2020
It is argued that, by lifting the action space and by leveraging sampling-based motion planners, this work can efficiently use RL to solve complex, long-horizon tasks that could not be solved with existing RL methods in the original action space.
Interactive Gibson: A Benchmark for Interactive Navigation in Cluttered Environments
We present Interactive Gibson, the first comprehensive benchmark for training and evaluating Interactive Navigation: robot navigation strategies where physical interaction with objects is allowed and…
Gibson Env V2: Embodied Simulation Environments for Interactive Navigation
The Gibson Env is a simulation environment that does photorealistic rendering and additionally provides a pixel-level domain adaptation mechanism to aid with the commonly raised concern of sim-to-real transfer.
Interactive Pedestrian Simulation in iGibson
In ongoing work, it is empirically found that the learning-based local controller for pedestrian simulation in iGibson exhibits more realistic interactive behaviors than commonly used models in social navigation research such as ORCA.
Retrospectives on the Embodied AI Workshop
This analysis focuses on 13 challenges presented at the Embodied AI Workshop at CVPR, grouped into three themes: visual navigation, rearrangement, and embodied vision-and-language.