One-Shot Imitation under Mismatched Execution

• URL: http://arxiv.org/abs/2409.06615v6
• Date: Fri, 28 Mar 2025 22:16:37 GMT
• Title: One-Shot Imitation under Mismatched Execution
• Authors: Kushal Kedia, Prithwish Dan, Angela Chao, Maximus Adrian Pace, Sanjiban Choudhury,
• Abstract summary: Human demonstrations are a powerful way to program robots to do long-horizon manipulation tasks.<n> translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches in movement styles and physical capabilities.<n>We propose RHyME, a novel framework that automatically pairs human and robot trajectories using sequence-level optimal transport cost functions.
• Score: 7.060120660671016
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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 presents significant challenges due to execution mismatches in movement styles and physical capabilities. Existing methods for human-robot translation either depend on paired data, which is infeasible to scale, or rely heavily on frame-level visual similarities that often break down in practice. To address these challenges, we propose RHyME, a novel framework that automatically pairs human and robot trajectories using sequence-level optimal transport cost functions. Given long-horizon robot demonstrations, RHyME synthesizes semantically equivalent human videos by retrieving and composing short-horizon human clips. This approach facilitates effective policy training without the need for paired data. RHyME successfully imitates a range of cross-embodiment demonstrators, both in simulation and with a real human hand, achieving over 50% increase in task success compared to previous methods. We release our code and datasets at https://portal-cornell.github.io/rhyme/.

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