Competition
The HomeRobot Open Vocabulary Mobile Manipulation Challenge
Sriram Yenamandra · Arun Ramachandran · Mukul Khanna · Karmesh Yadav · Devendra Singh Chaplot · Gunjan Chhablani · Alexander Clegg · Theophile Gervet · Vidhi Jain · Ruslan Partsey · Ram Ramrakhya · Andrew Szot · Austin Wang · Tsung-Yen Yang · Aaron Edsinger · Charles Kemp · Binit Shah · Zsolt Kira · Dhruv Batra · Roozbeh Mottaghi · Yonatan Bisk · Chris Paxton
Room 354
Deploying robots in real human environments requires a full hardware and software stack, that includes everything from perception to manipulation, in simulation and on accessible physical hardware. The lack of a single unified resource providing these capabilities means that the academic literature often focuses on creating agents in simulation or on one-off hardware, preventing comprehensive benchmarking and reproducibility. We present the first Open-Vocabulary Mobile Manipulation challenge with diverse assets and environments in simulation and a different, held-out set of physical objects in a novel real-world environment. We provide an entire robotics software stack that is modular, fully open-source, and centered on a popular low-cost hardware platform for easy replication and extension by the research community. Machine learning has benefited greatly from the standardization of high-quality engineering; our work aims to lower the cost of entry to robotics.We have assembled a team that spans Georgia Tech, Carnegie Mellon, Meta and Hello Robot to enable physical robot evaluations at NeurIPS. A simulator is ready for deployment and physical kitchens have been constructed for use as a real-world test set. We present development environments here and a peek at the construction of our full held-out test apartment being constructed in Fremont, California. Crucially, we are releasing a full software control stack for the Hello Robot Stretch, and have university partners to beta-test.
Schedule
Fri 11:30 a.m. - 11:45 a.m.
|
Challenge Overview
(
Presentation
)
>
SlidesLive Video |
Sriram Yenamandra 🔗 |
Fri 11:45 a.m. - 11:55 a.m.
|
Uniteam presentation
(
Presentation
)
>
SlidesLive Video |
Michael Büttner 🔗 |
Fri 11:55 a.m. - 12:05 p.m.
|
Rulai team presentation
(
Presentation
)
>
SlidesLive Video |
Yansong Chua 🔗 |
Fri 12:05 p.m. - 12:15 p.m.
|
Kuzhum team presentation
(
Presentation
)
>
SlidesLive Video |
Vladyslav Humennyy 🔗 |
Fri 12:15 p.m. - 12:45 p.m.
|
Stretch: A Path Into the Home for Friendly Mobile Manipulators
(
Talk
)
>
SlidesLive Video |
Aaron Edsinger 🔗 |
Fri 1:00 p.m. - 1:30 p.m.
|
Open X-Embodiment
(
Talk
)
>
SlidesLive Video |
Quan Vuong · Karl Pertsch 🔗 |
Fri 1:30 p.m. - 2:00 p.m.
|
OpenEQA: Embodied Question Answering in the Era of Foundation Models
(
Talk
)
>
SlidesLive Video |
Aravind Rajeswaran 🔗 |
Fri 2:00 p.m. - 2:30 p.m.
|
Participant feedback
(
Panel discussion
)
>
SlidesLive Video |
Sriram Yenamandra · Vladyslav Humennyy · Lyon Brown · Michael Büttner · Yansong Chua 🔗 |