Kushal Kedia

kk837@cornell.edu

kushal_kedia.jpg

PhD Student

Cornell University

I am a Ph.D. candidate in Computer Science at Cornell University (expected graduation in May 2026), advised by Prof. Sanjiban Choudhury and Prof. Wei-Chiu Ma. Currently, I am a visiting researcher working with Prof. Jeannette Bohg and Prof. C. Karen Liu at Stanford University.

My research goal is to build real-world robot systems that match human capabilities and are able to seamlessly collaborate with human partners. Towards this goal, I work on learning algorithms for robot decision making. I am especially interested in transfer learning from human videos and simulation.

In the past, I completed my undergraduate studies at IIT Kharagpur and have interned at Cruise and Microsoft Research India.

Link to CV.

News

Oct, 2025 Gave invited talks on “Moving Beyond Teleoperation: Robot Learning from Human Videos” at the University of Michigan’s Computation HRI course (course link), the Robotics Mobility Team at NVIDIA, and the Foundation Models Team at the RAI Institute.
Aug, 2025 Our paper X-Sim received an oral presentation at CoRL 2025 and a Best Paper (runner-up) award at the EgoAct Workshop at RSS 2025. X-Sim trains real‑world image‑based robot policies entirely in simulation, without any teleoperation data.
Apr, 2025 Cornell Chronicle featured our ICRA 2025 paper on RHyME (Retrieval for Hybrid Imitation under Mismatched Execution): “Robot see, robot do: System learns after watching how-tos.”
Oct, 2024 Gave invited talks on “Transferring Collaborative Behaviors from Human-Human Teams” at RPM Lab, University of Minnesota and RobIn Lab, UT Austin.
May, 2024 Released MOSAIC, a year-long collaborative effort combining multiple foundation models to build a multi-robot collaborative cooking system. MOSAIC won the Best Paper award at the VLMNM workshop and the Best Poster at the MoMa workshop @ ICRA 2024!
Sep, 2023 Excited to release the Collaborative Manipulation Dataset (CoMaD)! CoMaD captures over 6 hours of motion data from 14 unique users involving both human-human and human-robot (Franka robot arm) interactions in a kitchen setting.

Selected Papers

  1. xdiffusion.png
    X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations
    Maximus Pace*, Prithwish Dan*, Chuanruo Ning, Atiksh Bhardwaj, Audrey Du, Edward Duan, Wei-Chiu Ma*, and Kushal Kedia*
    In Submission
    project page  /  paper  /  code
  2. xsim.gif
    X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
    Prithwish Dan*, Kushal Kedia*, Angela Chao, Edward Weiyi Duan, Maximus Adrian Pace, Wei-Chiu Ma, and Sanjiban Choudhury
    Oral Presentation @ CoRL 2025
    Best Paper (Runner-Up) @ EgoAct Workshop, RSS 2025
    project page  /  paper  /  code
  3. rhyme.gif
    One-Shot Imitation under Mismatched Execution
    Kushal Kedia*, Prithwish Dan*, Angela Chao, Maximus A. Pace, and Sanjiban Choudhury
    ICRA 2025
    project page  /  paper  /  code
  4. mosaic.png
    MOSAIC: A Modular System for Assistive and Interactive Cooking
    Huaxiaoyue Wang*, Kushal Kedia*, Juntao Ren*, and ..... Sanjiban Choudhury
    CoRL 2024
    Best Paper @ VLNMN Workshop, ICRA 2024
    Best Poster @ MoMa Workshop, ICRA 2024
    project page  /  paper  /  code
  5. interact.png
    InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
    Kushal Kedia, Atiksh Bhardwaj, Prithwish Dan, and Sanjiban Choudhury
    ICRA 2024
    project page  /  paper  /  code
  6. manicast.gif
    ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting
    Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, and Sanjiban Choudhury
    CoRL 2023
    project page  /  paper  /  code
  7. game.gif
    A Game-Theoretic Framework for Joint Forecasting and Planning
    Kushal Kedia, Prithwish Dan, and Sanjiban Choudhury
    IROS 2023
    project page  /  paper  /  code