Related papers: Nonlinear Performance Degradation of Vision-Based …
Teleoperation promises to extend the operational envelope of automated vehicles, yet it critically depends on network latency and video quality. We report a fixed-base driving-simulator study (N=25) with a 2x2 manipulation of added latency…
This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…
Latency is a key performance factor for the teleoperation of Connected and Autonomous Vehicles (CAVs). It affects how quickly an operator can perceive changes in the driving environment and apply corrective actions. Most existing work…
Real-time video streaming is crucial in surgical teleoperation, yet reproducible evaluation under realistic network impairments remains limited. This paper presents VISTA, a benchmark designed to study how impairments along the forward…
Robustness is a critical requirement for deploying autonomous driving systems in the real world. Existing robustness benchmarks for autonomous driving have made important progress in studying the effects of image-level corruptions, such as…
Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior…
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…
We present a novel camera path optimization framework for the task of online video stabilization. Typically, a stabilization pipeline consists of three steps: motion estimating, path smoothing, and novel view rendering. Most previous…
With the raising demand for autonomous driving, vehicle-to-vehicle communications becomes a key technology enabler for the future intelligent transportation system. Based on our current knowledge field, there is limited network simulator…
While steady-state solutions of backlog and delay have been derived for essential wireless systems, the analysis of transient phases still poses significant challenges. Considering the majority of short-lived and interactive flows,…
In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…
In addition to autonomous car operation, in many cases it is desirable to let a human drive the vehicle remotely. To make remote operation possible, it is very critical to have a low and predictable latency to transmit video from the car…
Connected and Autonomous Vehicles (CAVs) continue to evolve rapidly, and system latency remains one of their most critical performance parameters, particularly when vehicles are operated remotely. Existing latency-assessment methodologies…
Leveraging a newly released open dataset of Lane Keeping Assist (LKA) systems from production vehicles, this paper presents the first comprehensive empirical analysis of real-world LKA performance. Our study yields three key findings: (i)…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between…
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow…
While automated vehicle (AV) research has grown steadily in recent years, the impact of automated lane changing behavior on transportation systems remains a largely understudied topic. The present work aims to explore the effects of…
Safety alignment is a key requirement for building reliable Artificial General Intelligence. Despite significant advances in safety alignment, we observe that minor latent shifts can still trigger unsafe responses in aligned models. We…
Teleoperated driving enables remote human intervention in autonomous vehicles, addressing challenges in complex driving environments. However, its effectiveness depends on ultra-low latency, high-reliability communication. This paper…