HomeRobot
Mobile manipulation research tools for roboticists
...The system focuses on Open Vocabulary Mobile Manipulation (OVMM) — a challenging task in which a robot must explore an unknown environment, identify an object by name, locate a suitable receptacle, and place the object appropriately. HomeRobot integrates perception, planning, and control under a unified architecture, supporting AI Habitat for simulation and ROS Noetic for real-world deployment. It provides interfaces for Detic, Grounded-SAM, and Contact-GraspNet, allowing open-vocabulary detection and 3D grasping.