mlsanityData to 14 Oct 2026

UniTeam: Open Vocabulary Mobile Manipulation Challenge

arXiv 2312.08611 ↗First posted 14 Dec 2023cs.RO cs.AIcited by 15

Not on the map. Why?

Abstract (arXiv)

This report introduces our UniTeam agent - an improved baseline for the "HomeRobot: Open Vocabulary Mobile Manipulation" challenge. The challenge poses problems of navigation in unfamiliar environments, manipulation of novel objects, and recognition of open-vocabulary object classes. This challenge aims to facilitate cross-cutting research in embodied AI using recent advances in machine learning, computer vision, natural language, and robotics. In this work, we conducted an exhaustive evaluation of the provided baseline agent; identified deficiencies in perception, navigation, and manipulation skills; and improved the baseline agent's performance. Notably, enhancements were made in perception - minimizing misclassifications; navigation - preventing infinite loop commitments; picking - addressing failures due to changing object visibility; and placing - ensuring accurate positioning for successful object placement.

Key facts. Cited by 15 papers in the map (data through 14 Oct 2026). Builds on 14 of its 17 references that are in the map. First posted on arXiv 14 Dec 2023.

Builds on

14 of 17 references.

References · 14

  1. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  2. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 614
  3. 2023ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planningcited by 365
  4. 2023Recognize Anything: A Strong Image Tagging Modelcited by 309
  5. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 106
  6. 2021The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environmentscited by 40
  7. 2023Contrastive Language, Action, and State Pre-training for Robot Learningcited by 16
  8. 2021Critic Guided Segmentation of Rewarding Objects in First-Person Viewscited by 12
  9. 2020Solving Physics Puzzles by Reasoning about Pathscited by 9
  10. 2022Behavioral Cloning via Search in Video PreTraining Latent Spacecited by 9
  11. 2022Planning with RL and episodic-memory behavioral priorscited by 8
  12. 2019Modularization of End-to-End Learning: Case Study in Arcade Gamescited by 6
2 more
  1. 2023Language-Conditioned Semantic Search-Based Policy for Robotic Manipulation Taskscited by 5
  2. 2023Behavioral Cloning via Search in Embedded Demonstration Datasetcited by 3

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 10; 2025: 4; 2026: 1.

15 papers.

Sort:

By area:

  1. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 34
  2. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  3. 20253D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Taskscited by 31
  4. 2024Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challengecited by 9
  5. 2024ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Executioncited by 8
  6. 2024HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Modelscited by 7
  7. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  8. 2024Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMscited by 4
  9. 2024Cognitive Planning for Object Goal Navigation using Generative AI Modelscited by 4
  10. 2024DM2RM: Dual-Mode Multimodal Ranking for Target Objects and Receptacles Based on Open-Vocabulary Instructionscited by 3
  11. 2025OWMM-Agent: Open World Mobile Manipulation With Multi-modal Agentic Data Synthesiscited by 3
  12. 2024SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matchingcited by 2
3 more
  1. 2025Grounding Language Models with Semantic Digital Twins for Robotic Planningcited by 2
  2. 2024Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splattingcited by 0
  3. 2026EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Modelscited by 0