HomeRobot Open Vocabulary Mobile Manipulation Challenge 2023 Participant Report (Team KuzHum)

Understand

We report an improvements to NeurIPS 2023 HomeRobot: Open Vocabulary Mobile Manipulation (OVMM) Challenge reinforcement learning baseline.

• More specifically, we propose more accurate semantic segmentation module, along with better place skill policy, and high-level heuristic that outperforms the baseline by 2.4% of overall success rate (sevenfold improvement) and 8.2% of partial success rate (1.75 times improvement) on Test Standard split of the challenge dataset.
• With aforementioned enhancements incorporated our agent scored 3rd place in the challenge on both simulation and real-world stages.