Author name cluster

Gaurav Sukhatme

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

1 author row

AAAI Conference 2024 Conference Paper

VLN-Video: Utilizing Driving Videos for Outdoor Vision-and-Language Navigation

Jialu Li
Aishwarya Padmakumar
Gaurav Sukhatme
Mohit Bansal

Outdoor Vision-and-Language Navigation (VLN) requires an agent to navigate through realistic 3D outdoor environments based on natural language instructions. The performance of existing VLN methods is limited by insufficient diversity in navigation environments and limited training data. To address these issues, we propose VLN-Video, which utilizes the diverse outdoor environments present in driving videos in multiple cities in the U.S. augmented with automatically generated navigation instructions and actions to improve outdoor VLN performance. VLN-Video combines the best of intuitive classical approaches and modern deep learning techniques, using template infilling to generate grounded non-repetitive navigation instructions, combined with an image rotation similarity based navigation action predictor to obtain VLN style data from driving videos for pretraining deep learning VLN models. We pre-train the model on the Touchdown dataset and our video-augmented dataset created from driving videos with three proxy tasks: Masked Language Modeling, Instruction and Trajectory Matching, and Next Action Prediction, so as to learn temporally-aware and visually-aligned instruction representations. The learned instruction representation is adapted to the state-of-the-art navigation agent when fine-tuning on the Touchdown dataset. Empirical results demonstrate that VLN-Video significantly outperforms previous state-of-the-art models by 2.1% in task completion rate, achieving a new state-of-the-art on the Touchdown dataset.

PDF Details DOI

NeurIPS Conference 2023 Conference Paper

Alexa Arena: A User-Centric Interactive Platform for Embodied AI

Qiaozi Gao
Govind Thattai
Suhaila Shakiah
Xiaofeng Gao
Shreyas Pansare
Vasu Sharma
Gaurav Sukhatme
Hangjie Shi

We introduce Alexa Arena, a user-centric simulation platform to facilitate research in building assistive conversational embodied agents. Alexa Arena features multi-room layouts and an abundance of interactable objects. With user-friendly graphics and control mechanisms, the platform supports the development of gamified robotic tasks readily accessible to general human users, allowing high-efficiency data collection and EAI system evaluation. Along with the platform, we introduce a dialog-enabled task completion benchmark with online human evaluations.

PDF Details

NeurIPS Conference 2023 Conference Paper

Generating Behaviorally Diverse Policies with Latent Diffusion Models

Shashank Hegde
Sumeet Batra
K. R. Zentner
Gaurav Sukhatme

Recent progress in Quality Diversity Reinforcement Learning (QD-RL) has enabled learning a collection of behaviorally diverse, high performing policies. However, these methods typically involve storing thousands of policies, which results in high space-complexity and poor scaling to additional behaviors. Condensing the archive into a single model while retaining the performance and coverage of theoriginal collection of policies has proved challenging. In this work, we propose using diffusion models to distill the archive into a single generative model over policy parameters. We show that our method achieves a compression ratio of 13x while recovering 98% of the original rewards and 89% of the original humanoid archive coverage. Further, the conditioning mechanism of diffusion models allowsfor flexibly selecting and sequencing behaviors, including using language. Project website: https: //sites. google. com/view/policydiffusion/home.

PDF Details

NeurIPS Conference 2017 Conference Paper

Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets

Karol Hausman
Yevgen Chebotar
Stefan Schaal
Gaurav Sukhatme
Joseph Lim

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to apply to real-world scenarios, where robots have to be able to execute a multitude of tasks. In this paper, we propose a multi-modal imitation learning framework that is able to segment and imitate skills from unlabelled and unstructured demonstrations by learning skill segmentation and imitation learning jointly. The extensive simulation results indicate that our method can efficiently separate the demonstrations into individual skills and learn to imitate them using a single multi-modal policy.

PDF Details