Related papers: Task-Oriented Communications for 3D Scene Represen…
Real-time three-dimensional (3D) scene representations serve as one of the building blocks that bolster various innovative applications, e.g., digital manufacturing, Virtual/Augmented/Extended/Mixed Reality (VR/AR/XR/MR), and the metaverse.…
In wireless communication systems, mmWave beam tracking is a critical task that affects both sensing and communications, as it is related to the knowledge of the wireless channel. We consider a setup in which a Base Station (BS) needs to…
This paper addresses the challenge of edge caching in dynamic environments, where rising traffic loads strain backhaul links and core networks. We propose a Proximal Policy Optimization (PPO)-based caching strategy that fully incorporates…
In this paper, we establish a task-oriented cross-system design framework to minimize the required packet rate for timely and accurate modeling of a real-world robotic arm in the Metaverse, where sensing, communication, prediction, control,…
Wireless extended reality (XR) teleoperation provides embodied interaction capability for collecting humanoid robot demonstrations, but the large-scale adoption is restricted by the overhead of high-frequency motion transmission. This paper…
This paper tackles the growing issue of excessive data transmission in networks. With increasing traffic, backhaul links and core networks are under significant traffic, leading to the investigation of caching solutions at edge routers.…
The popular federated edge learning (FEEL) framework allows privacy-preserving collaborative model training via frequent learning-updates exchange between edge devices and server. Due to the constrained bandwidth, only a subset of devices…
Intelligent real-time applications, such as video surveillance, demand intensive computation to extract status information from raw sensing data. This poses a substantial challenge in orchestrating computation and communication resources to…
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…
Proximal policy optimization (PPO) is one of the most popular state-of-the-art on-policy algorithms that has become a standard baseline in modern reinforcement learning with applications in numerous fields. Though it delivers stable…
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…
The use of higher frequencies in mobile communication systems leads to smaller cell sizes, resulting in the deployment of more base stations and an increase in handovers to support user mobility. This can lead to frequent radio link…
Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…
Proximal policy optimization (PPO) is one of the most successful deep reinforcement-learning methods, achieving state-of-the-art performance across a wide range of challenging tasks. However, its optimization behavior is still far from…
Traffic congestion and collisions represent significant economic, environmental, and social challenges worldwide. Traditional traffic management approaches have shown limited success in addressing these complex, dynamic problems. To address…
Despite the impressive progress of telepresence systems for room-scale scenes with static and dynamic scene entities, expanding their capabilities to scenarios with larger dynamic environments beyond a fixed size of a few square-meters…
LiDAR-based 3D object detection has seen impressive advances in recent times. However, deploying trained 3D detectors in the real world often yields unsatisfactory performance when the distribution of the test data significantly deviates…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…
Media streaming has been adopted for a variety of applications such as entertainment, visualization, and design. Unlike video/audio streaming where the content is usually consumed sequentially, 3D applications such as gaming require…