Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots

Xavier Puig, Eric Undersander,Andrew Szot, Mikael Dallaire Cote, Tsung-Yen Yang, Ruslan Partsey,Ruta Desai, Alexander William Clegg, Michal Hlavac, So Yeon Min, Vladimír Vondruš,Theophile Gervet,Vincent-Pierre Berges,John M. Turner,Oleksandr Maksymets,Zsolt Kira, Mrinal Kalakrishnan,Jitendra Malik,Devendra Singh Chaplot,Unnat Jain,Dhruv Batra,Akshara Rai,Roozbeh Mottaghi

CoRR(2023)

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摘要
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.
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