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cs.RO2024
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…
cs.RO2024
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…