BINDER: Instantly Adaptive Mobile Manipulation with Open-Vocabulary Commands
Summary: arXiv:2511.22364v2 Announce Type: replace-cross
Abstract: Open-vocabulary mobile manipulation (OVMM) requires robots to follow language instructions, navigate, and manipulate while updating their world representation under dynamic environmental changes. However, most prior approaches update their world representation only at discrete update points such as navigation targets, waypoints, or the end of an action step, leaving robots blind between updates and causing cascading failures: overlooked objects, late error detection, and delayed replanning.
To address this limitation, we propose BINDER (Bridging INstant and DEliberative Reasoning), a dual process framework that decouples strategic planning from continuous environment monitoring. Specifically, BINDER integrates a Deliberative Response Module (DRM, a multimodal LLM for task planning) with an Instant Response Module (IRM, a VideoLLM for continuous monitoring). The two modules play complementary roles:
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Deliberative Response Module (DRM):
This component is responsible for strategic planning. It utilizes structured 3D scene updates to guide the robot’s actions effectively.
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Instant Response Module (IRM):
The IRM focuses on continuous monitoring by analyzing video streams. It updates the robot’s memory, corrects ongoing actions, and triggers replanning when necessary.
Through this bidirectional coordination, the modules address the trade-off between maintaining awareness and avoiding costly updates. This enables robust adaptation under dynamic conditions, which is crucial for effective mobile manipulation in real-world scenarios.
Evaluation and Results
BINDER was evaluated in three real-world environments characterized by dynamic object placement. The results demonstrated that BINDER achieves substantially higher success rates and efficiency compared to state-of-the-art (SoTA) baselines. This effectiveness indicates its potential for real-world deployment, making it a significant advancement in the field of robotics.
Conclusion
The development of BINDER represents a significant leap forward in the realm of mobile manipulation. By integrating continuous monitoring with strategic planning, it offers a solution to the limitations faced by previous approaches. The ability to adapt in real-time to changing environments positions BINDER as a valuable tool for future robotic applications.
In conclusion, BINDER’s innovative framework not only enhances the operational capabilities of robots but also paves the way for broader applications in various fields, including logistics, healthcare, and home assistance. Its successful implementation could redefine how robots interact with their environments, ensuring greater efficiency and reliability.