Habitat: A Platform for Embodied AI Research

International Conference on Computer Vision (ICCV)


We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i) Habitat-Sim: a flexible, high-performance 3D simulator with configurable agents, sensors, and generic 3D dataset handling. Habitat-Sim is fast – when rendering a scene from Matterport3D, it achieves several thousand frames per second (fps) running single-threaded, and can reach over 10,000 fps multi-process on a single GPU. (ii) Habitat-API: a modular high-level library for end-to-end development of embodied AI algorithms – defining tasks (e.g. navigation, instruction following, question answering), configuring, training, and benchmarking embodied agents.

These large-scale engineering contributions enable us to answer scientific questions requiring experiments that were till now impracticable or ‘merely’ impractical. Specifically, in the context of point-goal navigation: (1) we revisit the comparison between learning and SLAM approaches from two recent works and find evidence for the opposite conclusion – that learning outperforms SLAM if scaled to an order of magnitude more experience than previous investigations, and (2) we conduct the first cross-dataset generalization experiments {train, test} × {Matterport3D, Gibson} for multiple sensors {blind, RGB, RGBD, D} and find that only agents with depth (D) sensors generalize across datasets. We hope that our open-source platform and these findings will advance research in embodied AI.

Supplemental Materials

Related Publications

All Publications

SIGDIAL - August 1, 2021

Annotation Inconsistency and Entity Bias in MultiWOZ

Kun Qian, Ahmad Berrami, Zhouhan Lin, Ankita De, Alborz Geramifard, Zhou Yu, Chinnadhurai Sankar

Uncertainty and Robustness in Deep Learning Workshop at ICML - August 1, 2020

Tilted Empirical Risk Minimization

Tian Li, Ahmad Beirami, Maziar Sanjabi, Virginia Smith

arxiv - November 1, 2020

The Hateful Memes Challenge: Detecting Hate Speech in Multimodal Memes

Douwe Kiela, Hamed Firooz, Aravind Mohan, Vedanuj Goswami, Amanpreet Singh, Pratik Ringshia, Davide Testuggine

ICML - July 24, 2021

Using Bifurcations for Diversity in Differentiable Games

Jonathan Lorraine, Jack Parker-Holder, Paul Vicol, Aldo Pacchiano, Luke Metz, Tal Kachman, Jakob Foerster

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