4 papers
Ubiquitous Robot Control Through Multimodal Motion Capture Using Smartwatch and Smartphone Data
Fabian C Weigend, Neelesh Kumar, Oya Aran +1
We present an open-source library for seamless robot control through motion capture using smartphones and smartwatches. Our library features three modes: Watch Only Mode, enabling…
Enabling Stateful Behaviors for Diffusion-based Policy Learning
Xiao Liu, Fabian Weigend, Yifan Zhou +1
While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing app…
iRoCo: Intuitive Robot Control From Anywhere Using a Smartwatch
Fabian C Weigend, Xiao Liu, Shubham Sonawani +3
This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic…
Multimodal Learning of Soft Robot Dynamics using Differentiable Filters
Xiao Liu, Yifan Zhou, Shuhei Ikemoto +1
Differentiable Filters, as recursive Bayesian estimators, possess the ability to learn complex dynamics by deriving state transition and measurement models exclusively from data. T…