| Autor: |
Melnik, Andrew, Büttner, Michael, Harz, Leon, Brown, Lyon, Nandi, Gora Chand, PS, Arjun, Yadav, Gaurav Kumar, Kala, Rahul, Haschke, Robert |
| Rok vydání: |
2023 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This report introduces our UniTeam agent - an improved baseline for the "HomeRobot: Open Vocabulary Mobile Manipulation" challenge. The challenge poses problems of navigation in unfamiliar environments, manipulation of novel objects, and recognition of open-vocabulary object classes. This challenge aims to facilitate cross-cutting research in embodied AI using recent advances in machine learning, computer vision, natural language, and robotics. In this work, we conducted an exhaustive evaluation of the provided baseline agent; identified deficiencies in perception, navigation, and manipulation skills; and improved the baseline agent's performance. Notably, enhancements were made in perception - minimizing misclassifications; navigation - preventing infinite loop commitments; picking - addressing failures due to changing object visibility; and placing - ensuring accurate positioning for successful object placement. |
| Databáze: |
arXiv |
| Externí odkaz: |
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