{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/bumble-unifying-reasoning-and-acting-with","title":"BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation","arxiv_id":"2410.06237","date":"2024-10-08","proceeding":null,"authors":["Rutav Shah","Albert Yu","Yifeng Zhu","Yuke Zhu","Roberto Martín-Martín"],"abstract":"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/","url_abs":"https://arxiv.org/abs/2410.06237v1","url_pdf":"https://arxiv.org/pdf/2410.06237v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"bumble-unifying-reasoning-and-acting-with","repo_url":"https://github.com/ut-austin-robin/bumble","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok"}}],"tasks":[{"task_slug":"language-modeling","task_name":"Language Modeling"},{"task_slug":"language-modelling","task_name":"Language Modelling"}],"methods":[{"method_slug":null,"method_name":null}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2410.06237","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}