# HomeRobot: Open-Vocabulary Mobile Manipulation

arXiv: https://arxiv.org/abs/2306.11565 · HTML: https://mlsanity.com/paper/2306.11565/

## Key facts

- Cited by 106 papers in the map (data through 14 Oct 2026).
- Builds on 76 of its 116 references that are in the map.
- First posted on arXiv 20 Jun 2023.

## Builds on (most cited first, 30 of 76)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [GLUE: A Multi-Task Benchmark and Analysis Platform for Natural Language Understanding](https://mlsanity.com/paper/1804.07461/) (2018)
- [SQuAD: 100,000+ Questions for Machine Comprehension of Text](https://mlsanity.com/paper/1606.05250/) (2016)
- [HellaSwag: Can a Machine Really Finish Your Sentence?](https://mlsanity.com/paper/1905.07830/) (2019)
- [PIQA: Reasoning about Physical Commonsense in Natural Language](https://mlsanity.com/paper/1911.11641/) (2019)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items](https://mlsanity.com/paper/2204.11918/) (2022)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [ABO: Dataset and Benchmarks for Real-World 3D Object Understanding](https://mlsanity.com/paper/2110.06199/) (2021)
- [DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames](https://mlsanity.com/paper/1911.00357/) (2019)
- [Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection](https://mlsanity.com/paper/1603.02199/) (2016)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [Integrated Task and Motion Planning](https://mlsanity.com/paper/2010.01083/) (2020)
- [RoboNet: Large-Scale Multi-Robot Learning](https://mlsanity.com/paper/1910.11215/) (2019)

## Built on by (most cited first, 30 of 106)

- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation](https://mlsanity.com/paper/2402.15852/) (2024)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks](https://mlsanity.com/paper/2412.18194/) (2024)
- [A Survey on Vision-Language-Action Models: An Action Tokenization Perspective](https://mlsanity.com/paper/2507.01925/) (2025)
- [Large Language Models as Generalizable Policies for Embodied Tasks](https://mlsanity.com/paper/2310.17722/) (2023)
- [RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots](https://mlsanity.com/paper/2603.04356/) (2026)
- [Real-World Robot Applications of Foundation Models: A Review](https://mlsanity.com/paper/2402.05741/) (2024)
- [Embodied AI Agents: Modeling the World](https://mlsanity.com/paper/2506.22355/) (2025)
- [TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction](https://mlsanity.com/paper/2405.10315/) (2024)
- [PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators](https://mlsanity.com/paper/2406.20083/) (2024)
- [AffordanceLLM: Grounding Affordance from Vision Language Models](https://mlsanity.com/paper/2401.06341/) (2024)
- [VLM Agents Generate Their Own Memories: Distilling Experience into Embodied Programs of Thought](https://mlsanity.com/paper/2406.14596/) (2024)
- [Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers](https://mlsanity.com/paper/2403.12943/) (2024)
- [World Action Models: The Next Frontier in Embodied AI](https://mlsanity.com/paper/2605.12090/) (2026)
- [SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World](https://mlsanity.com/paper/2312.02976/) (2023)
- [AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World](https://mlsanity.com/paper/2503.24278/) (2025)
- [SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation](https://mlsanity.com/paper/2502.13143/) (2025)
- [Prompt a Robot to Walk with Large Language Models](https://mlsanity.com/paper/2309.09969/) (2023)
- [Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Tasks](https://mlsanity.com/paper/2503.21696/) (2025)
- [From Multimodal LLMs to Generalist Embodied Agents: Methods and Lessons](https://mlsanity.com/paper/2412.08442/) (2024)
- [Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V](https://mlsanity.com/paper/2404.10220/) (2024)
- [V-IRL: Grounding Virtual Intelligence in Real Life](https://mlsanity.com/paper/2402.03310/) (2024)
- [OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics](https://mlsanity.com/paper/2401.12202/) (2024)
- [MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation](https://mlsanity.com/paper/2503.13446/) (2025)
- [DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation](https://mlsanity.com/paper/2411.04999/) (2024)
- [Adaptive Mobile Manipulation for Articulated Objects In the Open World](https://mlsanity.com/paper/2401.14403/) (2024)
- [Learning Generalizable Feature Fields for Mobile Manipulation](https://mlsanity.com/paper/2403.07563/) (2024)
- [Prioritized Semantic Learning for Zero-shot Instance Navigation](https://mlsanity.com/paper/2403.11650/) (2024)
- [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://mlsanity.com/paper/2503.05652/) (2025)

## Abstract (arXiv)

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This is a foundational challenge for robots to be useful assistants in human environments, because it involves tackling sub-problems from across robotics: perception, language understanding, navigation, and manipulation are all essential to OVMM. In addition, integration of the solutions to these sub-problems poses its own substantial challenges. To drive research in this area, we introduce the HomeRobot OVMM benchmark, where an agent navigates household environments to grasp novel objects and place them on target receptacles. HomeRobot has two components: a simulation component, which uses a large and diverse curated object set in new, high-quality multi-room home environments; and a real-world component, providing a software stack for the low-cost Hello Robot Stretch to encourage replication of real-world experiments across labs. We implement both reinforcement learning and heuristic (model-based) baselines and show evidence of sim-to-real transfer. Our baselines achieve a 20% success rate in the real world; our experiments identify ways future research work improve performance. See videos on our website: https://ovmm.github.io/.