Publication

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

arXiv


Abstract

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 (850× real-time) on an 8-GPU node, representing 100× speed-ups over prior work; and, (iii) Home Assistant Benchmark (HAB): a suite of common tasks for assistive robots (tidy the house, prepare 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. Code at: Github

Related Publications

All Publications

UAI - July 28, 2021

A Nonmyopic Approach to Cost-Constrained Bayesian Optimization

Eric Hans Lee, David Eriksson, Valerio Perrone, Matthias Seeger

ACM MM - October 20, 2021

EVRNet: Efficient Video Restoration on Edge Devices

Sachin Mehta, Amit Kumar, Fitsum Reda, Varun Nasery, Vikram Mulukutla, Rakesh Ranjan, Vikas Chandra

ICCV - October 11, 2021

Egocentric Pose Estimation from Human Vision Span

Hao Jiang, Vamsi Krishna Ithapu

TSE - June 29, 2021

Learning From Mistakes: Machine Learning Enhanced Human Expert Effort Estimates

Federica Sarro, Rebecca Moussa, Alessio Petrozziello, Mark Harman

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookies Policy