@inproceedings{decentralizeddistributedpposolving,
  title = {DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames},
  author = {Erik Wijmans and Abhishek Kadian and Ari Morcos and Stefan Lee and Irfan Essa and Devi Parikh and Manolis Savva and Dhruv Batra},
  year = {2019},
  booktitle = {ICLR 2020 1},
  eprint = {1911.00357},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1911.00357v2},
}