This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic differentiable filters, iRoCo optimizes a combination of precise robot control and unrestricted user movement from ubiquitous devices. We demonstrate and evaluate the effectiveness of iRoCo in practical teleoperation and drone piloting applications. Comparative analysis shows no significant difference between task performance with iRoCo and gold-standard control systems in teleoperation tasks. Additionally, iRoCo users complete drone piloting tasks 32\% faster than with a traditional remote control and report less frustration in a subjective load index questionnaire. Our findings strongly suggest that iRoCo is a promising new approach for intuitive robot control through smartwatches and smartphones from anywhere, at any time. The code is available at www.github.com/wearable-motion-capture

翻译：本文介绍iRoCo（直观机器人控制）——一种利用单一智能手表和智能手机实现普适性人机协作的框架。通过集成概率可微分滤波器，iRoCo优化了从普适设备进行精确机器人控制与用户无限制移动的组合方案。我们在实际遥操作和无人机驾驶应用中验证并评估了iRoCo的有效性。对比分析表明，在遥操作任务中，使用iRoCo的任务表现与黄金标准控制系统无显著差异。此外，相较于传统遥控器，iRoCo用户完成无人机驾驶任务的速度提升32%，且在主观负荷指数问卷中报告的挫败感更低。我们的研究结果强有力表明，iRoCo是通过智能手表和智能手机实现随时随地直观机器人控制的一种极具前景的新方案。代码已开源，可访问www.github.com/wearable-motion-capture获取。