Related papers: Optimal Motion Scaling for Delayed Telesurgery
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
Distributed nonconvex optimization problems underlie many applications in learning and autonomy, and such problems commonly face asynchrony in agents' computations and communications. When delays in these operations are bounded, they are…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
We consider the problem of jointly optimizing users' offloading decisions, communication and computing resource allocation in a sliced multi-cell mobile edge computing (MEC) network. We minimize the weighted sum of the gap between the…
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…
This work investigates the optimal allocation of inference compute across three key scaling factors in video vision language models: language model size, frame count, and the number of visual tokens per frame. While prior works typically…
We study the problem of user-scheduling and resource allocation in distributed multi-user, multiple-input multiple-output (MIMO) networks implementing user-centric clustering and non-coherent transmission. We formulate a weighted sum-rate…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
On a variety of tasks, the performance of neural networks predictably improves with training time, dataset size and model size across many orders of magnitude. This phenomenon is known as a neural scaling law. Of fundamental importance is…
In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it…
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development of cost-effective and realistic training methods is…
Modeling user preferences has been mainly addressed by looking at users' interaction history with the different elements available in the system. Tailoring content to individual preferences based on historical data is the main goal of…
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
We study in this paper the impact of communication latency on the classical Work Stealing load balancing algorithm. Our approach considers existing performance models and the underlying algorithms. We introduce a latency parameter in the…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…