12 citations · 14 across the 6 of their papers we have counts for
6 papers
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
Crystal Zhou, Jehan Yang, Douglas J. Weber +1
Vision-Language-Action (VLA) models perform well in generalist robot manipulation but remain brittle to out-of-distribution perturbations, while full human teleoperation is cogniti…
Bimanual High-Density EMG Control for In-Home Mobile Manipulation by Users with Quadriplegia
Jehan Yang, Eleanor Hodgson, Cindy Sun +2
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. How…
LAMS: LLM-Driven Automatic Mode Switching for Assistive Teleoperation
Yiran Tao, Jehan Yang, Dan Ding +1
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode map…
EMGBench: Benchmarking Out-of-Distribution Generalization and Adaptation for Electromyography
Jehan Yang, Maxwell Soh, Vivianna Lieu +2
This paper introduces the first generalization and adaptation benchmark using machine learning for evaluating out-of-distribution performance of electromyography (EMG) classificati…
Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator
Akhil Padmanabha, Janavi Gupta, Chen Chen +5
Teleoperation of mobile manipulators within a home environment can significantly enhance the independence of individuals with severe motor impairments, allowing them to regain the…
High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators
Jehan Yang, Kent Shibata, Douglas Weber +1
High-density electromyography (HDEMG) can detect myoelectric activity as control inputs to a variety of electronically-controlled devices. Furthermore, HDEMG sensors may be built i…