The Embodied AI community has made significant strides in visual navigation tasks, exploring targets from 3D coordinates, objects, language descriptions, and images. However, these navigation models often handle only a single input modality as the target. With the progress achieved so for, it is time to move towards universal navigation models capable of handling various goal types, enabling more effective user interaction with robots. To facilitate this goal, we propose GOAT-Bench, a benchmark for the universal navigation task referred to as GO to AnyThing (GOAT). In this task, the agent is directed to navigate to a sequence of targets specified by the category name, language description, or image in an open-vocabulary fashion. We benchmark monolithic RL and modular methods on the GOAT task, analyzing their performance across modalities, the role of explicit and implicit scene memories, their robustness to noise in goal specifications, and the impact of memory in lifelong scenarios.

Large Language Models (LLMs) are highly capable of performing planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (*e.g.* picking, placing, pulling, pushing, navigating). However, LLM planning does not address how to design or learn those behaviors, which remains challenging particularly in long-horizon settings. Furthermore, for many tasks of interest, the robot needs to be able to adjust its behavior in a fine-grained manner, requiring the agent to be capable of modifying *low-level* control actions. Can we instead use the internet-scale knowledge from LLMs for high-level policies, guiding reinforcement learning (RL) policies to efficiently solve robotic control tasks online without requiring a pre-determined set of skills? In this paper, we propose **Plan-Seq-Learn** (PSL): a modular approach that uses motion planning to bridge the gap between abstract language and learned low-level control for solving long-horizon robotics tasks from scratch. We demonstrate that PSL is capable of solving 20+ challenging single and multi-stage robotics tasks on four benchmarks at success rates of over 80% from raw visual input, out-performing language-based, classical, and end-to-end approaches. Video results and code at https://planseqlearn.github.io/

We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling complex deformable bodies and diversity in appearance and motion, all while ensuring high simulation speed. (2) Human-in-the-loop infrastructure: enabling real human interaction with simulated robots via mouse/keyboard or a VR interface, facilitating evaluation of robot policies with human input. (3) Collaborative tasks: studying two collaborative tasks, Social Navigation and Social Rearrangement. Social Navigation investigates a robot's ability to locate and follow humanoid avatars in unseen environments, whereas Social Rearrangement addresses collaboration between a humanoid and robot while rearranging a scene. These contributions allow us to study end-to-end learned and heuristic baselines for human-robot collaboration in-depth, as well as evaluate them with humans in the loop. Our experiments demonstrate that learned robot policies lead to efficient task completion when collaborating with unseen humanoid agents and human partners that might exhibit behaviors that the robot has not seen before. Additionally, we observe emergent behaviors during collaborative task execution, such as the robot yielding space when obstructing a humanoid agent, thereby allowing the effective completion of the task by the humanoid agent. Furthermore, our experiments using the human-in-the-loop tool demonstrate that our automated evaluation with humanoids can provide an indication of the relative ordering of different policies when evaluated with real human collaborators. Habitat 3.0 unlocks interesting new features in simulators for Embodied AI, and we hope it paves the way for a new frontier of embodied human-AI interaction capabilities. For more details and visualizations, visit: https://aihabitat.org/habitat3.

Implicit representations such as Neural Radiance Fields (NeRF) allow to map color, density and semantics in a 3D scene through a continuous neural function. However, these models typically require manual and careful human data collection for training. This paper addresses the problem of active exploration for autonomous NeRF construction. We study how an agent can learn to efficiently explore an unknown 3D environment so that the data collected during autonomous exploration enables the learning of a high-quality neural implicit map representation. The quality of the learned representation is evaluated on four robotics-related downstream tasks: classical viewpoint rendering, map reconstruction, planning, and pose refinement. We compare the impact of different exploration strategies including frontier-based and learning-based approaches (end-to-end and modular) with different reward functions tailored to this problem. Empirical results show that NeRFs can be trained on actively collected data using just a single episode of experience in an unseen environment and that AutoNeRF, a modular exploration policy trained with reinforcement learning, enables obtaining a higher-quality NeRF for the considered downstream robotic tasks. Finally, we show that with AutoNeRF an agent can be deployed to a previously unknown scene and then automatically improve its navigation performance by adapting to the scene through a cycle of exploration, reconstruction, and policy finetuning.

We present Galactic, a large-scale simulation and reinforcement-learning (RL) framework for robotic mobile manipulation in indoor environments. Specifically, a Fetch robot (equipped with a mobile base, 7DoF arm, RGBD camera, egomotion, and onboard sensing) is spawned in a home environment and asked to rearrange objects - by navigating to an object, picking it up, navigating to a target location, and then placing the object at the target location. Galactic is fast. In terms of simulation speed (rendering + physics), Galactic achieves over 421,000 steps-per-second (SPS) on an 8-GPU node, which is 54x faster than Habitat 2.0 [55] (7699 SPS). More importantly, Galactic was designed to optimize the entire rendering+physics+RL interplay since any bottleneck in the interplay slows down training. In terms of simulation+RL speed (rendering + physics + inference + learning), Galactic achieves over 108,000 SPS, which 88x faster than Habitat 2.0 (1243 SPS). These massive speedups not only drastically cut the wall-clock training time of existing experiments, but also unlock an unprecedented scale of new experiments. First, Galactic can train a mobile pick skill to > 80% accuracy in under 16 minutes, a 100x speedup compared to the over 24 hours it takes to train the same skill in Habitat 2.0. Second, we use Galactic to perform the largest-scale experiment to date for rearrangement using 5B steps of experience in 46 hours, which is equivalent to 20 years of robot experience. This scaling results in a single neural network composed of task-agnostic components achieving 85% success in GeometricGoal rearrangement, compared to 0% success reported in Habitat 2.0 for the same approach. The code is available at github.com/facebookresearch/galactic.

We present the Habitat-Matterport 3D Semantics (HM3DSem) dataset. HM3DSem is the largest dataset of 3D real-world spaces with densely annotated semantics that is currently available to the academic community. It consists of 142,646 object instance annotations across 216 3D spaces and 3,100 rooms within those spaces. The scale, quality, and diversity of object annotations far exceed those of prior datasets. A key difference setting apart HM3DSem from other datasets is the use of texture information to annotate pixel-accurate object boundaries. We demonstrate the effectiveness of HM3DSem dataset for the Object Goal Navigation task using different methods. Policies trained using HM3DSem perform outperform those trained on prior datasets. Introduction of HM3DSem in the Habitat ObjectNav Challenge lead to an increase in participation from 400 submissions in 2021 to 1022 submissions in 2022. Project page: https://aihabitat.org/datasets/hm3d-semantics/

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform this task in both simulation and the real world. Our modular method solves sub-tasks of exploration, goal instance re-identification, goal localization, and local navigation. We re-identify the goal instance in egocentric vision using feature-matching and localize the goal instance by projecting matched features to a map. Each sub-task is solved using off-the-shelf components requiring zero fine-tuning. On the HM3D InstanceImageNav benchmark, this system outperforms a baseline end-to-end RL policy 7x and a state-of-the-art ImageNav model 2.3x (56% vs . 25% success). We deploy this system to a mobile robot platform and demonstrate effective real-world performance, achieving an 88% success rate across a home and an office environment.

State-of-the-art approaches to ObjectGoal navigation (ObjectNav) rely on reinforcement learning and typically require significant computational resources and time for learning. We propose Potential functions for ObjectGoal Navigation with Interaction-free learning (PONI), a modular approach that disentangles the skills of 'where to look?’ for an object and 'how to navigate to$(x,\ y)$?’. Our key insight is that 'where to look?’ can be treated purely as a perception problem, and learned without environment interactions. To address this, we propose a network that predicts two complementary potential functions conditioned on a semantic map and uses them to decide where to look for an unseen object. We train the potential function network using supervised learning on a passive dataset of top-down semantic maps, and integrate it into a modular framework to perform ObjectNav. Experiments on Gibson and Matterport3D demonstrate that our method achieves the stateof-the-art for ObjectNav while incurring up to$1,600\times less$computational cost for training. Code and pre-trained models are available.11Website: https://vision.cs.utexas.edu/projects/poni/

We consider the problem of spatial path planning. In contrast to the classical solutions which optimize a new plan from scratch and assume access to the full map with ground truth obstacle locations, we learn a planner from the data in a differentiable manner that allows us to leverage statistical regularities from past data. We propose Spatial Planning Transformers (SPT), which given an obstacle map learns to generate actions by planning over long-range spatial dependencies, unlike prior data-driven planners that propagate information locally via convolutional structure in an iterative manner. In the setting where the ground truth map is not known to the agent, we leverage pre-trained SPTs in an end-to-end framework that has the structure of mapper and planner built into it which allows seamless generalization to out-of-distribution maps and goals. SPTs outperform prior state-of-the-art differentiable planners across all the setups for both manipulation and navigation tasks, leading to an absolute improvement of 7-19%.

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL). It utilizes perception models trained on internet images to learn an active exploration policy. The observations gathered by this exploration policy are labelled using 3D consistency and used to improve the perception model. We build and utilize 3D semantic maps to learn both action and perception in a completely self-supervised manner. The semantic map is used to compute an intrinsic motivation reward for training the exploration policy and for labelling the agent observations using spatio-temporal 3D consistency and label propagation. We demonstrate that the SEAL framework can be used to close the action-perception loop: it improves object detection and instance segmentation performance of a pretrained perception model by just moving around in training environments and the improved perception model can be used to improve Object Goal Navigation.

Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards. However, building simulators is expensive (requires manual effort for each and every scene) and creates challenges in transferring learned policies to robotic platforms in the real-world, due to the sim-to-real domain gap. In this paper, we pose a simple question: Do we really need active interaction, ground-truth maps or even reinforcement-learning (RL) in order to solve the image-goal navigation task? We propose a self-supervised approach to learn to navigate from only passive videos of roaming. Our approach, No RL, No Simulator (NRNS), is simple and scalable, yet highly effective. NRNS outperforms RL-based formulations by a significant margin. We present NRNS as a strong baseline for any future image-based navigation tasks that use RL or Simulation.

We introduce Habitat 2.0 (H2.0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios. We make comprehensive contributions to all levels of the embodied AI stack – data, simulation, and benchmark tasks. Specifically, we present: (i) ReplicaCAD: an artist-authored, annotated, reconfigurable 3D dataset of apartments (matching real spaces) with articulated objects (e.g. cabinets and drawers that can open/close); (ii) H2.0: a high-performance physics-enabled 3D simulator with speeds exceeding 25,000 simulation steps per second (850x real-time) on an 8-GPU node, representing 100x speed-ups over prior work; and, (iii) Home Assistant Benchmark (HAB): a suite of common tasks for assistive robots (tidy the house, stock groceries, set the table) that test a range of mobile manipulation capabilities. These large-scale engineering contributions allow us to systematically compare deep reinforcement learning (RL) at scale and classical sense-plan-act (SPA) pipelines in long-horizon structured tasks, with an emphasis on generalization to new objects, receptacles, and layouts. We find that (1) flat RL policies struggle on HAB compared to hierarchical ones; (2) a hierarchy with independent skills suffers from ‘hand-off problems’, and (3) SPA pipelines are more brittle than RL policies.

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space that effectively leverage semantics and afford approximate geometric reasoning. At the heart of our representations are nodes with associated semantic features, that are interconnected using coarse geometric information. We describe supervised learning-based algorithms that can build, maintain and use such representations under noisy actuation. Experimental study in visually and physically realistic simulation suggests that our method builds effective representations that capture structural regularities and efficiently solve long-horizon navigation problems. We observe a relative improvement of more than 50% over existing methods that study this task.

Visually-grounded embodied language learning models have recently shown to be effective at learning multiple multimodal tasks such as following navigational instructions and answering questions. In this paper, we address two key limitations of these models, (a) the inability to transfer the grounded knowledge across different tasks and (b) the inability to transfer to new words and concepts not seen during training using only a few examples. We propose a multitask model which facilitates knowledge transfer across tasks by disentangling the knowledge of words and visual attributes in the intermediate representations. We create scenarios and datasets to quantify cross-task knowledge transfer and show that the proposed model outperforms a range of baselines in simulated 3D environments. We also show that this disentanglement of representations makes our model modular and interpretable which allows for transfer to instructions containing new concepts.

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective at exploration and long-term planning. We propose a modular system called, `Goal-Oriented Semantic Exploration' which builds an episodic semantic map and uses it to explore the environment efficiently based on the goal object category. Empirical results in visually realistic simulation environments show that the proposed model outperforms a wide range of baselines including end-to-end learning-based methods as well as modular map-based methods and led to the winning entry of the CVPR-2020 Habitat ObjectNav Challenge. Ablation analysis indicates that the proposed model learns semantic priors of the relative arrangement of objects in a scene, and uses them to explore efficiently. Domain-agnostic module design allows us to transfer our model to a mobile robot platform and achieve similar performance for object goal navigation in the real-world.

Word Sense Disambiguation is an open problem in Natural Language Processing which is particularly challenging and useful in the unsupervised setting where all the words in any given text need to be disambiguated without using any labeled data. Typically WSD systems use the sentence or a small window of words around the target word as the context for disambiguation because their computational complexity scales exponentially with the size of the context. In this paper, we leverage the formalism of topic model to design a WSD system that scales linearly with the number of words in the context. As a result, our system is able to utilize the whole document as the context for a word to be disambiguated. The proposed method is a variant of Latent Dirichlet Allocation in which the topic proportions for a document are replaced by synset proportions. We further utilize the information in the WordNet by assigning a non-uniform prior to synset distribution over words and a logistic-normal prior for document distribution over synsets. We evaluate the proposed method on Senseval-2, Senseval-3, SemEval-2007, SemEval-2013 and SemEval-2015 English All-Word WSD datasets and show that it outperforms the state-of-the-art unsupervised knowledge-based WSD system by a significant margin.

To perform tasks specified by natural language instructions, autonomous agents need to extract semantically meaningful representations of language and map it to visual elements and actions in the environment. This problem is called task-oriented language grounding. We propose an end-to-end trainable neural architecture for task-oriented language grounding in 3D environments which assumes no prior linguistic or perceptual knowledge and requires only raw pixels from the environment and the natural language instruction as input. The proposed model combines the image and text representations using a Gated-Attention mechanism and learns a policy to execute the natural language instruction using standard reinforcement and imitation learning methods. We show the effectiveness of the proposed model on unseen instructions as well as unseen maps, both quantitatively and qualitatively. We also introduce a novel environment based on a 3D game engine to simulate the challenges of task-oriented language grounding over a rich set of instructions and environment states.

Value Iteration Networks (VINs) are effective differentiable path planning modules that can be used by agents to perform navigation while still maintaining end-to-end differentiability of the entire architecture. Despite their effectiveness, they suffer from several disadvantages including training instability, random seed sensitivity, and other optimization problems. In this work, we reframe VINs as recurrent-convolutional networks which demonstrates that VINs couple recurrent convolutions with an unconventional max-pooling activation. From this perspective, we argue that standard gated recurrent update equations could potentially alleviate the optimization issues plaguing VIN. The resulting architecture, which we call the Gated Path Planning Network, is shown to empirically outperform VIN on a variety of metrics such as learning speed, hyperparameter sensitivity, iteration count, and even generalization. Furthermore, we show that this performance gap is consistent across different maze transition types, maze sizes and even show success on a challenging 3D environment, where the planner is only provided with first-person RGB images.

Advances in deep reinforcement learning have allowed autonomous agents to perform well on Atari games, often outperforming humans, using only raw pixels to make their decisions. However, most of these games take place in 2D environments that are fully observable to the agent. In this paper, we present Arnold, a completely autonomous agent to play First-Person Shooter Games using only screen pixel data and demonstrate its effectiveness on Doom, a classical first-person shooter game. Arnold is trained with deep reinforcement learning using a recent Action-Navigation architecture, which uses separate deep neural networks for exploring the map and fighting enemies. Furthermore, it utilizes a lot of techniques such as augmenting high-level game features, reward shaping and sequential updates for efficient training and effective performance. Arnold outperforms average humans as well as in-built game bots on different variations of the deathmatch. It also obtained the highest kill-to-death ratio in both the tracks of the Visual Doom AI Competition and placed second in terms of the number of frags.

Advances in deep reinforcement learning have allowed autonomous agents to perform well on Atari games, often outperforming humans, using only raw pixels to make their decisions. However, most of these games take place in 2D environments that are fully observable to the agent. In this paper, we present the first architecture to tackle 3D environments in first-person shooter games, that involve partially observable states. Typically, deep reinforcement learning methods only utilize visual input for training. We present a method to augment these models to exploit game feature information such as the presence of enemies or items, during the training phase. Our model is trained to simultaneously learn these features along with minimizing a Q-learning objective, which is shown to dramatically improve the training speed and performance of our agent. Our architecture is also modularized to allow different models to be independently trained for different phases of the game. We show that the proposed architecture substantially outperforms built-in AI agents of the game as well as average humans in deathmatch scenarios.

Adaptive learning is the core technology behind intelligent tutoring systems, which are responsible for estimating student knowledge and providing personalized instruction to students based on their skill level. In this paper, we present a new adaptive learning system architecture, which uses Artificial Neural Network to construct the Learner Model, which automatically models relationship between different concepts in the curriculum and beats Knowledge Tracing in predicting student performance. We also propose a novel method for selecting items of optimal difficulty, personalized to student's skill level and learning rate, which decreases their learning time by 26.5% as compared to standard pre-defined curriculum sequence item selection policy.

Word Sense Disambiguation is a difficult problem to solve in the unsupervised setting. This is because in this setting inference becomes more dependent on the interplay between different senses in the context due to unavailability of learning resources. Using two basic ideas, sense dependency and selective dependency, we model the WSD problem as a Maximum A Posteriori (MAP) Inference Query on a Markov Random Field (MRF) built using WordNet and Link Parser or Stanford Parser. To the best of our knowledge this combination of dependency and MRF is novel, and our graph-based unsupervised WSD system beats state-of-the-art system on SensEval-2, SensEval-3 and SemEval-2007 English all-words datasets while being over 35 times faster.

In this paper, we are presenting a graphical user interface to browse and explore the In-doWordnet lexical database for various Indian languages.IndoWordnet visualizer extracts the related concepts for a given word and displays a sub graph containing those concepts.The interface is enhanced with different features in order to provide flexibility to the user.IndoWordnet visualizer is made publically available.Though it was initially constructed for making the wordnet validation process easier, it is proving to be very useful in analyzing various Natural Language Processing tasks, viz.,