I'm fairly certain that you could use any device you wanted to during the hybrid period long as it follows the other rules. Other receivers would be governed by the rules for custom electronics. The "signaling device" is not limited to a remote control in the game manual, either:
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Originally Posted by 7.2 DEFINITIONS
SIGNALING DEVICE: Any equipment used by a ROBOCOACH to provide external stimuli to the ROBOT.
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I'm not sure why you would want to create your own IR receiver (the one FIRST provided seems to work well), but using a different technology that might have less interference to communicate with your robot during hybrid could be interesting... perhaps using ultrasonic as shown in the kickoff?