  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
