Holodeck: Language Guided Generation of 3D Embodied AI Environments
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arXiv
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| Main Authors: | , , , , , , , , , , , , , |
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| Format: | Preprint |
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2023
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| _version_ | 1866911849459482624 |
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| author | Yang, Yue Sun, Fan-Yun Weihs, Luca VanderBilt, Eli Herrasti, Alvaro Han, Winson Wu, Jiajun Haber, Nick Krishna, Ranjay Liu, Lingjie Callison-Burch, Chris Yatskar, Mark Kembhavi, Aniruddha Clark, Christopher |
| author_facet | Yang, Yue Sun, Fan-Yun Weihs, Luca VanderBilt, Eli Herrasti, Alvaro Han, Winson Wu, Jiajun Haber, Nick Krishna, Ranjay Liu, Lingjie Callison-Burch, Chris Yatskar, Mark Kembhavi, Aniruddha Clark, Christopher |
| contents | 3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To mitigate this limitation, we present Holodeck, a system that generates 3D environments to match a user-supplied prompt fully automatedly. Holodeck can generate diverse scenes, e.g., arcades, spas, and museums, adjust the designs for styles, and can capture the semantics of complex queries such as "apartment for a researcher with a cat" and "office of a professor who is a fan of Star Wars". Holodeck leverages a large language model (i.e., GPT-4) for common sense knowledge about what the scene might look like and uses a large collection of 3D assets from Objaverse to populate the scene with diverse objects. To address the challenge of positioning objects correctly, we prompt GPT-4 to generate spatial relational constraints between objects and then optimize the layout to satisfy those constraints. Our large-scale human evaluation shows that annotators prefer Holodeck over manually designed procedural baselines in residential scenes and that Holodeck can produce high-quality outputs for diverse scene types. We also demonstrate an exciting application of Holodeck in Embodied AI, training agents to navigate in novel scenes like music rooms and daycares without human-constructed data, which is a significant step forward in developing general-purpose embodied agents. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2312_09067 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Holodeck: Language Guided Generation of 3D Embodied AI Environments Yang, Yue Sun, Fan-Yun Weihs, Luca VanderBilt, Eli Herrasti, Alvaro Han, Winson Wu, Jiajun Haber, Nick Krishna, Ranjay Liu, Lingjie Callison-Burch, Chris Yatskar, Mark Kembhavi, Aniruddha Clark, Christopher Computer Vision and Pattern Recognition Artificial Intelligence Computation and Language Robotics 3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To mitigate this limitation, we present Holodeck, a system that generates 3D environments to match a user-supplied prompt fully automatedly. Holodeck can generate diverse scenes, e.g., arcades, spas, and museums, adjust the designs for styles, and can capture the semantics of complex queries such as "apartment for a researcher with a cat" and "office of a professor who is a fan of Star Wars". Holodeck leverages a large language model (i.e., GPT-4) for common sense knowledge about what the scene might look like and uses a large collection of 3D assets from Objaverse to populate the scene with diverse objects. To address the challenge of positioning objects correctly, we prompt GPT-4 to generate spatial relational constraints between objects and then optimize the layout to satisfy those constraints. Our large-scale human evaluation shows that annotators prefer Holodeck over manually designed procedural baselines in residential scenes and that Holodeck can produce high-quality outputs for diverse scene types. We also demonstrate an exciting application of Holodeck in Embodied AI, training agents to navigate in novel scenes like music rooms and daycares without human-constructed data, which is a significant step forward in developing general-purpose embodied agents. |
| title | Holodeck: Language Guided Generation of 3D Embodied AI Environments |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence Computation and Language Robotics |
| url | https://arxiv.org/abs/2312.09067 |