{"paper":{"title":"Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Aaron Edsinger, Alexander Clegg, Andrew Melnik, Andrew Szot, Arjun PS, Arun Ramachandran, Austin Wang, Bingyi Lu, Binit Shah, Charlie Kemp, Chenxiao Dou, Chris Paxton, Devendra Singh Chaplot, Dhruv Batra, Gaurav Kumar Yadav, Gora Chand Nandi, Gunjan Chhablani, Jay Vakil, Jinxin Zhu, Jonathan Francis, Karmesh Yadav, Leon Harz, Lyon Brown, Michael B\\\"uttner, Mukul Khanna, Qinyuan Liu, Qiting Ye, Rahul Kala, Ram Ramrakhya, Robert Haschke, Roozbeh Mottaghi, Ruslan Partsey, Sriram Yenamandra, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Vladyslav Humennyy, Volodymyr Kuzma, Xuan Gu, Yang Luo, Yansen Han, Yansong Chua, Yaping Zhao, Yonatan Bisk, Zsolt Kira","submitted_at":"2024-07-09T15:15:01Z","abstract_excerpt":"In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed Open Vocabulary Mobile Manipulation as a key benchmark task for robotics: finding any object in a novel environment and placing it on any receptacle surface within that environment. We organized a NeurIPS 2023 competition featuring both simulation and real-world components to evaluate solutions to this task. Our baselines on the most challenging version of thi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.06939","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.06939/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}