# DM2RM: Dual-Mode Multimodal Ranking for Target Objects and Receptacles Based on Open-Vocabulary Instructions

arXiv: https://arxiv.org/abs/2408.07910 · HTML: https://mlsanity.com/paper/2408.07910/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 52 references that are in the map.
- First posted on arXiv 15 Aug 2024.

## Builds on (most cited first, 30 of 41)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [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)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [A Survey of Embodied AI: From Simulators to Research Tasks](https://mlsanity.com/paper/2103.04918/) (2021)
- [GRES: Generalized Referring Expression Segmentation](https://mlsanity.com/paper/2306.00968/) (2023)
- [Image Retrieval on Real-life Images with Pre-trained Vision-and-Language Models](https://mlsanity.com/paper/2108.04024/) (2021)
- [Composing Text and Image for Image Retrieval - An Empirical Odyssey](https://mlsanity.com/paper/1812.07119/) (2018)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [Foundation Models in Robotics: Applications, Challenges, and the Future](https://mlsanity.com/paper/2312.07843/) (2023)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Open-vocabulary Queryable Scene Representations for Real World Planning](https://mlsanity.com/paper/2209.09874/) (2022)
- [VLP: A Survey on Vision-Language Pre-training](https://mlsanity.com/paper/2202.09061/) (2022)
- [Automatic Spatially-aware Fashion Concept Discovery](https://mlsanity.com/paper/1708.01311/) (2017)
- [SOON: Scenario Oriented Object Navigation with Graph-based Exploration](https://mlsanity.com/paper/2103.17138/) (2021)
- [Habitat-Matterport 3D Semantics Dataset](https://mlsanity.com/paper/2210.05633/) (2022)
- [HomeRobot: Open-Vocabulary Mobile Manipulation](https://mlsanity.com/paper/2306.11565/) (2023)
- [Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis](https://mlsanity.com/paper/2312.08782/) (2023)

## Built on by (most cited first, 3 of 3)

- [Open-Vocabulary Mobile Manipulation Based on Double Relaxed Contrastive Learning with Dense Labeling](https://mlsanity.com/paper/2412.16576/) (2024)
- [Affordance RAG: Hierarchical Multimodal Retrieval with Affordance-Aware Embodied Memory for Mobile Manipulation](https://mlsanity.com/paper/2512.18987/) (2025)
- [NaiLIA: Multimodal Nail Design Retrieval Based on Dense Intent Descriptions and Palette Queries](https://mlsanity.com/paper/2603.05446/) (2026)

## Abstract (arXiv)

In this study, we aim to develop a domestic service robot (DSR) that, guided by open-vocabulary instructions, can carry everyday objects to the specified pieces of furniture. Few existing methods handle mobile manipulation tasks with open-vocabulary instructions in the image retrieval setting, and most do not identify both the target objects and the receptacles. We propose the Dual-Mode Multimodal Ranking model (DM2RM), which enables images of both the target objects and receptacles to be retrieved using a single model based on multimodal foundation models. We introduce a switching mechanism that leverages a mode token and phrase identification via a large language model to switch the embedding space based on the prediction target. To evaluate the DM2RM, we construct a novel dataset including real-world images collected from hundreds of building-scale environments and crowd-sourced instructions with referring expressions. The evaluation results show that the proposed DM2RM outperforms previous approaches in terms of standard metrics in image retrieval settings. Furthermore, we demonstrate the application of the DM2RM on a standardized real-world DSR platform including fetch-and-carry actions, where it achieves a task success rate of 82% despite the zero-shot transfer setting. Demonstration videos, code, and more materials are available at https://kkrr10.github.io/dm2rm/.