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VASC Seminar
Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World
Newell-Simon Hall 3305Abstract: We show that imitating shortest-path planners in simulation produces Stretch RE-1 robotic agents that, given language instructions, can proficiently navigate, explore, and manipulate objects in both simulation and in the real world using only RGB sensors (no depth maps or GPS coordinates). This surprising result is enabled by our end-to-end, transformer-based, SPOC architecture, powerful [...]