droidlet: modular, heterogenous, multi-modal agents. - Anurag Pratik; Soumith Chintala; Kavya Srinet; Dhiraj Gandhi; Rebecca Qian; Yuxuan Sun 004; Ryan Drew; Sara Elkafrawy; Anoushka Tiwari; Tucker Hart; Mary Williamson; Abhinav Gupta 001; et al. (ICRA, 2021)