HomeRobot Open Vocabulary Mobile Manipulation Challenge 2023 Participant
  Report (Team KuzHum)
Volodymyr Kuzma Vladyslav Humennyy Ruslan Partsey
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.