Dhruv Batra

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

2021 · arXiv (Cornell University)

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, …

VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement

2022 · arXiv (Cornell University)

We present Variable Experience Rollout (VER), a technique for efficiently scaling batched on-policy reinforcement learning in heterogenous environments (where different environments take vastly different times to generate rollouts) to many GPUs residing on, potentially, many …

What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?

2023 · arXiv (Cornell University)

We present a large empirical investigation on the use of pre-trained visual representations (PVRs) for training downstream policies that execute real-world tasks. Our study involves five different PVRs, each trained for five distinct manipulation or …

A Corpus and Cloze Evaluation for Deeper Understanding of Commonsense Stories

2016

Nasrin Mostafazadeh, Nathanael Chambers, Xiaodong He, Devi Parikh, Dhruv Batra, Lucy Vanderwende, Pushmeet Kohli, James Allen. Proceedings of the 2016 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies. …