Naoki Yokoyama
About MeCVResearchGitHubGoogle Scholar



Ph.D. Student in Robotics at Georgia Tech
Atlanta, GA

Northeastern University
B.S. and M.S. Electrical Engineering
Concn. in Machine Learning & Computer Vision



About Me

I am currently a 3rd year Robotics Ph.D. student at Georgia Tech advised by Dhruv Batra and Sehoon Ha. Previously, I graduated with my BS and MS from Northeastern University. My research interests involve scalable learning methods that will teach robots to effectively perceive and interact within various environments in the real world by training them within realistic simulators before transferring the learned skills to reality.

During my PhD, I've interned at Amazon with Gaurav Sukhatme on deep reinforcement learning for robotics with reward decomposition (Summer 2022), and at Meta AI with Akshara Rai on mobile manipulation for object rearrangement (Summer 2021).

Previously I also worked with Taskin Padir in the Robotics and Intelligent Vehicles Research (RIVeR) lab at Northeastern University. There, I led Team Northeastern in mutiple international robotics competitions such as the 2019 RoboCup@Home competition in Sydney, Australia, the 2018 World Robot Summit in Tokyo, Japan, and the Robocup@Home 2018 in Montreal, Canada, where we placed 4th internationally and 1st in the USA.

I have also had the pleasure of mentoring other students, such as Qian Luo (MS@GT), Simar Kareer (MS@GT), and Marco Delgado (BS@GT) in research projects.


Amazon Science
Summer 2022

Facebook AI Research
Summer 2021

RIVeR Research Lab
2017 - 2019



Awards

  • Achievement Rewards for College Scientists (ARCS) Fellowship 2022
  • Adobe Research Fellowship 2022 Finalist
  • iGibson Dynamic Visual Navigation Challenge 2021 1st Place
  • Robocup@Home 2019 1st Place in USA, 2018 1st Place in USA
  • Northeastern Senior Capstone Design 2018, 1st Place
  • Joseph Spear Scholarship 2017
  • SASE Kellogg Scholarship 2016
  • Clara & Joseph Ford Scholarship 2016
  • HackMIT “Best NativeScript App for IoT” Winner 2016
  • SASE InnoService Competition 3rd Place 2014-15, 3rd Place 2013-2014
  • Karen T. Rigg Scholarship 2014
  • Gordon CenSSIS Scholar 2013
  • George Alden and Amelia Peabody Scholarship 2013-18
  • Dean's Scholarship 2013-18


Research


Learning to Navigate Over Clutter in Indoor Environments using Vision

Simar Kareer*, Naoki Yokoyama*, Dhruv Batra, Sehoon Ha, and Joanne Truong

under submission




Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

Joanne Truong, Max Rudolph, Naoki Yokoyama, Sonia Chernova, Dhruv Batra, Akshara Rai

Conference on Robot Learning (CoRL), 2022.

Project Page arXiv link


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

Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha

International Conference on Intelligent Robots and Systems (IROS) 2022
Embodied AI Workshop at Conference on Computer Vision and Pattern Recognition (CVPR) 2022

Challenge Page Workshop Page arXiv link

1st place in Interactive Navigation, 5th in Social Navigation.




Is Mapping Necessary for Realistic PointGoal Navigation?

Ruslan Partsey, Erik Wijmans, Naoki Yokoyama, Oles Dobosevych, Dhruv Batra, Oleksandr Maksymets

Conference on Computer Vision and Pattern Recognition (CVPR) 2022

Project Page arXiv link Code

Can an autonomous agent navigate in a new environment without ever building an explicit map?


Success Weighted By Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation

Naoki Yokoyama, Sehoon Ha, Dhruv Batra

International Conference on Intelligent Robots and Systems (IROS) 2021


Project Page YouTube arXiv link Code

Dynamics-aware training and evaluation for navigation. Demonstrated that trained agents better leveraged the dynamics of the robot to be faster than previous work, both within simulation and in the real world.



Robocup@Home 2019 in Sydney, Australia

YouTube

Finished 1st place among US teams.


World Robot Competition 2018 in Tokyo, Japan

Competition with mobile manipulation and perception tasks, held in Odaiba's Tokyo Big Sight.




Robocup@Home 2018 in Montreal, Canada

Object Segmentation Person Description

Finished 4th internationally, 1st among USA. Completed various mobile manipulation and human-robot interaction tasks using deep learning and computer vision.