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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…
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…