key: Workshop
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Ubiquitous Robot Control Through Multimodal Motion Capture Using Smartwatch and Smartphone Data
Presented as an interactive poster with motion capture game at the ICRA24 Workshop – Advancing wearable devices and applications through novel design, sensing, actuation, and AI. Abstract: 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 control with a…
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Enabling Stateful Behaviors for Diffusion-based Policy Learning
Presented at the ICRA 2024 Workshop—Back to the Future: Robot Learning Going Probabilistic. The full paper is published at IROS 2024. Abstract: While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action representation at…
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Probabilistic Differentiable Filters Enable Ubiquitous Robot Control With Smartwatches
Received a monetary prize and got selected for a 10min spotlight presentation! Thanks very much to the organizers of the Differential Robotics Workshop at IROS 23. Ubiquitous robot control and human-robot collaboration using smart devices poses a challenging problem primarily due to strict accuracy requirements and sparse information. This paper presents a novel approach that…