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08/14/2023
PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objects
We address the task of simultaneous part-level reconstruction and motion...
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06/20/2023
HomeRobot: Open-Vocabulary Mobile Manipulation
HomeRobot (noun): An affordable compliant robot that navigates homes and...
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06/20/2023
Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigation
We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high...
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05/29/2023
Evaluating 3D Shape Analysis Methods for Robustness to Rotation Invariance
This paper analyzes the robustness of recent 3D shape descriptors to SO(...
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04/07/2023
Reduce, Reuse, Recycle: Modular Multi-Object Navigation
Our work focuses on the Multi-Object Navigation (MultiON) task, where an...
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03/24/2023
OPDMulti: Openable Part Detection for Multiple Objects
Openable part detection is the task of detecting the openable parts of a...
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01/30/2023
Emergence of Maps in the Memories of Blind Navigation Agents
Animal navigation research posits that organisms build and maintain inte...
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10/11/2022
Habitat-Matterport 3D Semantics Dataset
We present the Habitat-Matterport 3D Semantics (HM3DSEM) dataset. HM3DSE...
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09/12/2022
Articulated 3D Human-Object Interactions from RGB Videos: An Empirical Analysis of Approaches and Challenges
Human-object interactions with articulated objects are common in everyda...
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03/30/2022
OPD: Single-view 3D Openable Part Detection
We address the task of predicting what parts of an object can open and h...
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12/13/2021
Learning Body-Aware 3D Shape Generative Models
The shape of many objects in the built environment is dictated by their ...
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12/10/2021
Roominoes: Generating Novel 3D Floor Plans From Existing 3D Rooms
Realistic 3D indoor scene datasets have enabled significant recent progr...
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10/12/2021
Interpretation of Emergent Communication in Heterogeneous Collaborative Embodied Agents
Communication between embodied AI agents has received increasing attenti...
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09/16/2021
Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
We present the Habitat-Matterport 3D (HM3D) dataset. HM3D is a large-sca...
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08/19/2021
D3D-HOI: Dynamic 3D Human-Object Interactions from Videos
We introduce D3D-HOI: a dataset of monocular videos with ground truth an...
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06/28/2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat
We introduce Habitat 2.0 (H2.0), a simulation platform for training virt...
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06/11/2021
Mirror3D: Depth Refinement for Mirror Surfaces
Despite recent progress in depth sensing and 3D reconstruction, mirror s...
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06/09/2021
Plan2Scene: Converting Floorplans to 3D Scenes
We address the task of converting a floorplan and a set of associated ph...
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03/12/2021
Large Batch Simulation for Deep Reinforcement Learning
We accelerate deep reinforcement learning-based training in visually com...
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12/07/2020
MultiON: Benchmarking Semantic Map Memory using Multi-Object Navigation
Navigation tasks in photorealistic 3D environments are challenging becau...
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11/03/2020
Rearrangement: A Challenge for Embodied AI
We describe a framework for research and evaluation in Embodied AI. Our ...
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07/06/2020
MCMI: Multi-Cycle Image Translation with Mutual Information Constraints
We present a mutual information-based framework for unsupervised image-t...
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06/23/2020
ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects
We revisit the problem of Object-Goal Navigation (ObjectNav). In its sim...
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12/13/2019
Are We Making Real Progress in Simulated Environments? Measuring the Sim2Real Gap in Embodied Visual Navigation
Does progress in simulation translate to progress in robotics? Specifica...
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11/01/2019
Decentralized Distributed PPO: Solving PointGoal Navigation
We present Decentralized Distributed Proximal Policy Optimization (DD-PP...
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09/28/2019
Relational Graph Learning for Crowd Navigation
We present a relational graph learning approach for robotic crowd naviga...
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06/13/2019
The Replica Dataset: A Digital Replica of Indoor Spaces
We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor s...
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04/02/2019
Habitat: A Platform for Embodied AI Research
We present Habitat, a new platform for research in embodied artificial i...
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03/09/2019
Hierarchy Denoising Recursive Autoencoders for 3D Scene Layout Prediction
Indoor scenes exhibit rich hierarchical structure in 3D object layouts. ...
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11/27/2018
Scan2CAD: Learning CAD Model Alignment in RGB-D Scans
We present Scan2CAD, a novel data-driven method that learns to align cle...
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07/18/2018
On Evaluation of Embodied Navigation Agents
Skillful mobile operation in three-dimensional environments is a primary...
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03/22/2018
Text2Shape: Generating Shapes from Natural Language by Learning Joint Embeddings
We present a method for generating colored 3D shapes from natural langua...
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12/12/2017
Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View
We present Im2Pano3D, a convolutional neural network that generates a de...
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12/11/2017
MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments
We present MINOS, a simulator designed to support the development of mul...
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10/17/2017
Large-Scale 3D Shape Reconstruction and Segmentation from ShapeNet Core55
We introduce a large-scale 3D shape understanding benchmark using data a...
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09/18/2017
Matterport3D: Learning from RGB-D Data in Indoor Environments
Access to large, diverse RGB-D datasets is critical for training RGB-D s...
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04/07/2017
Learning Where to Look: Data-Driven Viewpoint Set Selection for 3D Scenes
The use of rendered images, whether from completely synthetic datasets o...
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02/28/2017
SceneSuggest: Context-driven 3D Scene Design
We present SceneSuggest: an interactive 3D scene design system providing...
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02/28/2017
SceneSeer: 3D Scene Design with Natural Language
Designing 3D scenes is currently a creative task that requires significa...
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12/22/2016
Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks
Indoor scene understanding is central to applications such as robot navi...
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11/28/2016
Semantic Scene Completion from a Single Depth Image
This paper focuses on semantic scene completion, a task for producing a ...
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12/09/2015
ShapeNet: An Information-Rich 3D Model Repository
We present ShapeNet: a richly-annotated, large-scale repository of shape...
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05/23/2015