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We report an improvements to NeurIPS 2023 HomeRobot: Open Vocabulary MobileManipulation (OVMM) Challenge reinforcement learning baseline. Morespecifically, we propose more accurate semantic segmentation module, along withbetter place skill policy, and high-level heuristic that outperforms thebaseline by 2.4% of overall success rate (sevenfold improvement) and 8.2% ofpartial success rate (1.75 times improvement) on Test Standard split of thechallenge dataset. With aforementioned enhancements incorporated our agentscored 3rd place in the challenge on both simulation and real-world stages.

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