5 papers
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
Crystal Zhou, Jehan Yang, Douglas J. Weber +1
Recent advancements in Vision-Language-Action (VLA) models have demonstrated impressive generalist capabilities in robot manipulation, yet these policies can be brittle under out-o…
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…
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…