Robotics

Multiple Robot Control using the Mirroring and Forwarding Schemes

This tutorial demonstrates how to use the Wrapyfi framework to run a facial expression recognition (FER) model on multiple robots. The model recognizes 8 facial expressions which are propagated to the Pepper and iCub robots. The expression categories are displayed by changing the Pepper robot’s eye and shoulder LED colors—or robotic facial expressions—by changing the iCub robot’s eyebrow and mouth LED patterns.

Switching between Sensors using the Mirroring and Channeling Schemes

This tutorial demonstrates how to use the Wrapyfi framework to run a head pose estimation model and/or acquire head orientation from inertial measurement unit (IMU) readings to mirror the movements of an actor on the iCub robot in a near-real-time setting. Under the model-controlled condition, the iCub robot’s movements are actuated by a vision-based head pose estimation model. Under the IMU-controlled condition, the orientation readings arrived instead from an IMU attached to a wearable eye tracker.

Neural Networks

Horizontal and Vertical Layer Sharding

This tutorial demonstrates how to use the Wrapyfi to shard a neural network across multiple machines. We provide two examples: (1) horizontal sharding of the facial expression recognition model, and (2) vertical sharding of the Llama LLM model.