AnySense

AnySense is an iPhone application that integrates the phone's sensory suite with external multisensory inputs via Bluetooth and wired interfaces, enabling offline data collection and online streaming to robots. It solves the problem of collecting diverse, high-quality real-world data for training generalizable robot models. The app targets robotics researchers and developers, particularly those at universities and research labs, who need scalable and intuitive data collection tools. It is positioned as an open-source tool that interfaces with tactile sensors like AnySkin and supports deployment of trained policies on robots such as the Stretch.

Key features

• Integrates iPhone sensory suite with external sensors
• Supports Bluetooth and wired interfaces
• Enables offline data collection
• Enables online streaming to robots
• Interfaces with AnySkin tactile sensor
• Supports multi-axis contact force measurement
• Collects tactile and microphone data
• Trains behavior cloning policies
• Deploys policies on Stretch robot
• Streams magnetometer readings via Bluetooth