# Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge

arXiv: https://arxiv.org/abs/2109.10493 · HTML: https://mlsanity.com/paper/2109.10493/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 28 references that are in the map.
- First posted on arXiv 22 Sep 2021.

## Builds on (most cited first, 21 of 21)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Random Erasing Data Augmentation](https://mlsanity.com/paper/1708.04896/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [CURL: Contrastive Unsupervised Representations for Reinforcement Learning](https://mlsanity.com/paper/2004.04136/) (2020)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Leveraging Procedural Generation to Benchmark Reinforcement Learning](https://mlsanity.com/paper/1912.01588/) (2019)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [Reinforcement Learning with Augmented Data](https://mlsanity.com/paper/2004.14990/) (2020)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames](https://mlsanity.com/paper/1911.00357/) (2019)
- [Learning to Explore using Active Neural SLAM](https://mlsanity.com/paper/2004.05155/) (2020)
- [Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning](https://mlsanity.com/paper/1809.08835/) (2018)
- [Socially Aware Motion Planning with Deep Reinforcement Learning](https://mlsanity.com/paper/1703.08862/) (2017)
- [Interactive Gibson Benchmark (iGibson 0.5): A Benchmark for Interactive Navigation in Cluttered Environments](https://mlsanity.com/paper/1910.14442/) (2019)
- [Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias](https://mlsanity.com/paper/1807.07049/) (2018)
- [Auxiliary Tasks Speed Up Learning PointGoal Navigation](https://mlsanity.com/paper/2007.04561/) (2020)
- [Robot Navigation in Constrained Pedestrian Environments using Reinforcement Learning](https://mlsanity.com/paper/2010.08600/) (2020)
- [Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation](https://mlsanity.com/paper/2103.08022/) (2021)

## Built on by (most cited first, 5 of 5)

- [Retrospectives on the Embodied AI Workshop](https://mlsanity.com/paper/2210.06849/) (2022)
- [HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigation](https://mlsanity.com/paper/2306.11377/) (2023)
- [NavDreams: Towards Camera-Only RL Navigation Among Humans](https://mlsanity.com/paper/2203.12299/) (2022)
- [Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism](https://mlsanity.com/paper/2306.14055/) (2023)
- [DOZE: A Dataset for Open-Vocabulary Zero-Shot Object Navigation in Dynamic Environments](https://mlsanity.com/paper/2402.19007/) (2024)

## Abstract (arXiv)

Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching embodied agents to navigate static environments, much less progress has been made on more dynamic environments that may include moving pedestrians or movable obstacles. In this study, we aim to benchmark different augmentation techniques for improving the agent's performance in these challenging environments. We show that adding several dynamic obstacles into the scene during training confers significant improvements in test-time generalization, achieving much higher success rates than baseline agents. We find that this approach can also be combined with image augmentation methods to achieve even higher success rates. Additionally, we show that this approach is also more robust to sim-to-sim transfer than image augmentation methods. Finally, we demonstrate the effectiveness of this dynamic obstacle augmentation approach by using it to train an agent for the 2021 iGibson Challenge at CVPR, where it achieved 1st place for Interactive Navigation. Video link: https://www.youtube.com/watch?v=HxUX2HeOSE4