BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation
<|reference_start|>BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation: To operate at a building scale, service robots must perform very long-horizon mobile manipulation tasks by navigating to different rooms, accessing different floors, and interacting with a wide and unseen range of everyday objects. We refer to these tasks as Building-wide Mobile Manipulation. To tackle these inherently long-horizon tasks, we introduce BUMBLE, a unified Vision-Language Model (VLM)-based framework integrating open-world RGBD perception, a wide spectrum of gross-to-fine motor skills, and dual-layered memory. Our extensive evaluation (90+ hours) indicates that BUMBLE outperforms multiple baselines in long-horizon building-wide tasks that require sequencing up to 12 ground truth skills spanning 15 minutes per trial. BUMBLE achieves 47.1% success rate averaged over 70 trials in different buildings, tasks, and scene layouts from different starting rooms and floors. Our user study demonstrates 22% higher satisfaction with our method than state-of-the-art mobile manipulation methods. Finally, we demonstrate the potential of using increasingly-capable foundation models to push performance further. For more information, see https://robin-lab.cs.utexas.edu/BUMBLE/<|reference_end|>
@article{shah2024bumble:,
    title={BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for
  Building-wide Mobile Manipulation},
    author={Rutav Shah, Albert Yu, Yifeng Zhu, Yuke Zhu, Roberto Mart'in-Mart'in},
    journal={arXiv preprint arXiv:2410.06237},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.06237},
    primaryClass={cs.RO cs.AI}
}