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Progress Probes : Lightweight Runtime Monitoring for Vision-Language-Action Models
Atiksh Bhardwaj, Edward W. Duan, Junwon Seo +4
Vision-Language-Action (VLA) models can perform diverse manipulation tasks directly from visual observations and natural language instructions, but they remain prone to mistakes an…
Decoding Task Progress from VLA Representations
Atiksh Bhardwaj, Edward Weiyi Duan, Prithwish Dan +2
Vision-language-action models (VLAs) are moving rapidly towards deployment as general-purpose manipulation policies, but we currently lack basic tools for understanding what these…
X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations
Maximus A. Pace, Prithwish Dan, Chuanruo Ning +5
Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for dire…
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
Prithwish Dan, Kushal Kedia, Angela Chao +4
Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment appro…
One-Shot Imitation under Mismatched Execution
Kushal Kedia, Prithwish Dan, Angela Chao +2
Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions…
MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
Huaxiaoyue Wang, Kushal Kedia, Juntao Ren +14
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objec…
ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting
Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj +1
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, w…
InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
Kushal Kedia, Atiksh Bhardwaj, Prithwish Dan +1
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depen…