5 papers
JWST MIRI Medium Resolution Spectrometer Point Fixed Pattern Corrections: Cleaner and Higher Signal-to-Noise Spectra of Point Sources
Karl D. Gordon, David R. Law
The JWST Mid-Infrared Instrument Medium Resolution Spectrometer provides the capability to obtain spectra from 5-28 micron. The JWST data reduction pipeline removes the majority bu…
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…
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…
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…