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cs.RO2024
Skills Made to Order: Efficient Acquisition of Robot Cooking Skills Guided by Multiple Forms of Internet Data
Mrinal Verghese, Christopher Atkeson
This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool us…
cs.CV2024
User-in-the-loop Evaluation of Multimodal LLMs for Activity Assistance
Mrinal Verghese, Brian Chen, Hamid Eghbalzadeh +2
Our research investigates the capability of modern multimodal reasoning models, powered by Large Language Models (LLMs), to facilitate vision-powered assistants for multi-step dail…