{"id":"https://openalex.org/W4416749360","doi":"https://doi.org/10.1109/iros60139.2025.11246789","title":"\u03bb: A Benchmark for Data-Efficiency in Long-Horizon Indoor Mobile Manipulation Robotics","display_name":"\u03bb: A Benchmark for Data-Efficiency in Long-Horizon Indoor Mobile Manipulation Robotics","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749360","doi":"https://doi.org/10.1109/iros60139.2025.11246789"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113049315","display_name":"Ahmed Jaafar","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed Jaafar","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084369883","display_name":"Shreyas Sundara Raman","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyas Sundara Raman","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114601856","display_name":"Sudarshan Harithas","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sudarshan Harithas","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081897818","display_name":"Yichen Wei","orcid":"https://orcid.org/0000-0002-3593-8280"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yichen Wei","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115086847","display_name":"Sofia Juliani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sofia Juliani","raw_affiliation_strings":["Rutgers University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University","institution_ids":["https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114633868","display_name":"Anneke Wernerfelt","orcid":null},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anneke Wernerfelt","raw_affiliation_strings":["University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042611551","display_name":"Benedict Quartey","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benedict Quartey","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047537152","display_name":"Ifrah Idrees","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ifrah Idrees","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066563254","display_name":"Jason Xinyu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Xinyu Liu","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059273574","display_name":"Stefanie Tellex","orcid":"https://orcid.org/0000-0002-2905-4075"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanie Tellex","raw_affiliation_strings":["Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4936734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8942","last_page":"8949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3937999904155731,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3937999904155731,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.29429998993873596,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.10180000215768814,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7990999817848206},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.695900022983551},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.631600022315979},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6290000081062317},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5770999789237976},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4413999915122986},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42149999737739563}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7990999817848206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7401999831199646},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.695900022983551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6931999921798706},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6503000259399414},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.631600022315979},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6290000081062317},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5770999789237976},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42149999737739563},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.38019999861717224},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3181999921798706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31360000371932983},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.2976999878883362},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2962736495","https://openalex.org/W3034201026","https://openalex.org/W3176814369","https://openalex.org/W4385430679","https://openalex.org/W4401415287","https://openalex.org/W4402354126","https://openalex.org/W4402354138","https://openalex.org/W4402776554","https://openalex.org/W4403337227","https://openalex.org/W4413925805"],"related_works":[],"abstract_inverted_index":{"Learning":[0],"to":[1,34,111],"execute":[2],"long-horizon":[3],"mobile":[4],"manipulation":[5],"tasks":[6,66],"is":[7],"crucial":[8],"for":[9,26,48,75],"advancing":[10],"robotics":[11],"in":[12,88],"household":[13],"and":[14,86,90,101,106,117,128,150],"workplace":[15],"settings.":[16,92],"However,":[17],"current":[18,113],"approaches":[19],"are":[20],"typically":[21],"data-inefficient,":[22],"underscoring":[23],"the":[24,43,55],"need":[25],"improved":[27],"models":[28,59,125],"that":[29,83,122,133],"require":[30],"realistically":[31],"sized":[32],"benchmarks":[33],"evaluate":[35],"their":[36],"efficiency.":[37],"To":[38],"address":[39],"this,":[40],"we":[41],"introduce":[42],"LAMBDA":[44],"(\u03bb)":[45],"benchmark1\u2013\u2013Long-horizon":[46],"Actions":[47],"Mobile-manipulation":[49],"Benchmarking":[50],"of":[51,58,70],"Directed":[52],"Activities\u2013\u2013which":[53],"evaluates":[54],"data":[56],"efficiency":[57],"on":[60],"language-conditioned,":[61],"long-horizon,":[62],"multi-room,":[63],"multi-floor,":[64],"pick-and-place":[65],"using":[67],"a":[68,118,144],"dataset":[69],"manageable":[71],"size,":[72],"more":[73],"feasible":[74],"collection.":[76],"Our":[77],"benchmark":[78,112],"includes":[79],"571":[80],"human-collected":[81],"demonstrations":[82],"provide":[84],"realism":[85],"diversity":[87],"simulated":[89],"real-world":[91],"Unlike":[93],"planner-generated":[94],"data,":[95],"these":[96],"trajectories":[97],"offer":[98],"natural":[99],"variability":[100],"replay-verifiability,":[102],"ensuring":[103],"robust":[104],"learning":[105,115,134],"evaluation.":[107],"We":[108,131],"leverage":[109],"\u03bb":[110],"end-to-end":[114],"methods":[116],"modular":[119],"neuro-symbolic":[120,145],"approach":[121],"combines":[123],"foundation":[124],"with":[126],"task":[127],"motion":[129],"planning.":[130],"find":[132],"methods,":[135],"even":[136],"when":[137],"pretrained,":[138],"yield":[139],"lower":[140],"success":[141],"rates,":[142],"while":[143],"method":[146],"performs":[147],"significantly":[148],"better":[149],"requires":[151],"less":[152],"data.":[153]},"counts_by_year":[],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-11-28T00:00:00"}
