arXiv subjects

Johannes Y. Lee

Publications and source records attributed to Johannes Y. Lee.

2 recordsLinked to original sources

arXiv2026

DiSCo: Diffusion Sequence Copilots for Shared Autonomy

Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic arms. When a task is challenging, requires high dimensional control, or is subject to corruption, shared autonomy can significantly increase task performance by using a trained copilot to effectively correct user actions in a manner consistent with the user's goals. To significantly improve the performance of shared autonomy, we introduce Diffusion Sequence Copilots (DiSCo): a method of shared autonomy with diffusion policy that plans action sequences consistent with past user actions. DiSCo seeds and inpaints the diffusion process with user-provided actions with hyperparameters to balance conformity to expert actions, alignment with user intent, and perceived responsiveness. We demonstrate that DiSCo substantially improves task performance in simulated driving and robotic arm tasks. Project website: https://sites.google.com/view/disco-shared-autonomy/

cs.HC↗

arXiv2025

LowKeyEMG: Electromyographic typing with a reduced keyset

We introduce LowKeyEMG, a real-time human-computer interface that enables efficient text entry using only 7 gesture classes decoded from surface electromyography (sEMG). Prior work has attempted full-alphabet decoding from sEMG, but decoding large character sets remains unreliable, especially for individuals with motor impairments. Instead, LowKeyEMG reduces the English alphabet to 4 gesture keys, with 3 more for space and system interaction, to reliably translate simple one-handed gestures into text, leveraging the recurrent transformer-based language model RWKV for efficient computation. In real-time experiments, participants achieved average one-handed keyboardless typing speeds of 23.3 words per minute with LowKeyEMG, and improved gesture efficiency by 17% (relative to typed phrase length). When typing with only 7 keys, LowKeyEMG can achieve 98.2% top-3 word accuracy, demonstrating that this low-key typing paradigm can maintain practical communication rates. Our results have implications for assistive technologies and any interface where input bandwidth is constrained.

cs.HC↗