6 citations · 10 across the 7 of their papers we have counts for
7 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…
Projecting Robot Intentions Through Visual Cues: Static vs. Dynamic Signaling
Shubham Sonawani, Yifan Zhou, Heni Ben Amor
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to exp…
Anytime, Anywhere: Human Arm Pose from Smartwatch Data for Ubiquitous Robot Control and Teleoperation
Fabian C Weigend, Shubham Sonawani, Michael Drolet +1
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow…
Learning and Blending Robot Hugging Behaviors in Time and Space
Michael Drolet, Joseph Campbell, Heni Ben Amor
We introduce an imitation learning-based physical human-robot interaction algorithm capable of predicting appropriate robot responses in complex interactions involving a superposit…