相关论文: Enabling Remote Whole-Body Control with 5G Edge Co…

The convergence of Artificial Intelligence (AI) and the Internet of Things has accelerated the development of distributed, network-sensitive applications, necessitating ultra-low latency, high throughput, and real-time processing…

5G beyond is an end-edge-cloud orchestrated network that can exploit heterogeneous capabilities of the end devices, edge servers, and the cloud and thus has the potential to enable computation-intensive and delay-sensitive applications via…

We are witnessing an increasing availability of streaming data that may contain valuable information on the underlying processes. It is thus attractive to be able to deploy machine learning models on edge devices near sensors such that…

This article explores how to drive intelligent iot monitoring and control through cloud computing and machine learning. As iot and the cloud continue to generate large and diverse amounts of data as sensor devices in the network, the…

Edge Machine Learning (Edge ML), which shifts computational intelligence from cloud-based systems to edge devices, is attracting significant interest due to its evident benefits including reduced latency, enhanced data privacy, and…

Assisted driving for connected cars is one of the main applications that 5G-and-beyond networks shall support. In this work, we propose an assisted driving system leveraging the synergy between connected vehicles and the edge of the network…

Edge Learning (EL) pushes the computational resources toward the edge of 5G/6G network to assist mobile users requesting delay-sensitive and energy-aware intelligent services. A common challenge in running inference tasks from remote is to…

The Metaverse has emerged as the next generation of the Internet. It aims to provide an immersive, persistent virtual space where people can live, learn, work and interact with each other. However, the existing technology is inadequate to…

With the emerging of the fifth generation (5G) mobile communication systems and software defined networks, not only the performance of vehicular networks could be improved but also new applications of vehicular networks are required by…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Fifth generation cellular systems support a broad range of services, including mobile broadband, critical and massive Internet of Things and are used in a variety of scenarios. In many of these scenarios, the main challenge is maintaining…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. A cloud-hosted diffusion-based text-to-motion generator synthesizes motion references from natural language instructions, while an…

Mobile edge computing (MEC) enhances the performance of 5G networks by enabling low-latency, high-speed services through deploying data units of the base station on edge servers located near mobile users. However, determining the optimal…

The advent of the wireless communications systems augurs new cutting-edge technologies, including self-driving vehicles, unmanned aerial systems, autonomous robots, Internet-of-Things, and virtual reality. These technologies require high…

This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…

With 5G on the verge of being adopted as the next mobile network, there is a need to analyze its impact on the landscape of computing and data management. In this paper, we analyze the impact of 5G on both traditional and emerging…