# The Robot Household Marathon Experiment

arXiv: https://arxiv.org/abs/2011.09792 · HTML: https://mlsanity.com/paper/2011.09792/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Nov 2020.

## Built on by (most cited first, 6 of 6)

- [Guided Imitation of Task and Motion Planning](https://mlsanity.com/paper/2112.03386/) (2021)
- [Robi Butler: Multimodal Remote Interaction with a Household Robot Assistant](https://mlsanity.com/paper/2409.20548/) (2024)
- [Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations](https://mlsanity.com/paper/2306.02739/) (2023)
- [A Personalized Household Assistive Robot that Learns and Creates New Breakfast Options through Human-Robot Interaction](https://mlsanity.com/paper/2307.00114/) (2023)
- [A Framework for Adapting Human-Robot Interaction to Diverse User Groups](https://mlsanity.com/paper/2410.11377/) (2024)
- [ROSA: A Knowledge-based Solution for Robot Self-Adaptation](https://mlsanity.com/paper/2505.00733/) (2025)

## Abstract (arXiv)

In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and opening/closing environment containers in a human household. The robot is expected to act completely autonomously for extended periods of time. We discuss the scientific challenges raised by the experiment as well as present our robotic system that can address these challenges and successfully perform all the tasks of the experiment. We present empirical results and the lessons learned as well as discuss where we hit limitations.