相关论文: Optimal Motion Scaling for Delayed Telesurgery

In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…

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…

Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…

In computed tomography (CT), the relative trajectories of a sample, a detector, and a signal source are traditionally considered to be known, since they are caused by the intentional preprogrammed movement of the instrument parts. However,…

To mitigate the trade-offs between performance and costs, LLM providers route user tasks to different models based on task difficulty and latency. We study the effect of LLM routing with respect to user behavior. We propose a game between…

Two-way relaying promises considerable improvements on spectral efficiency in wireless relay networks. While most existing works focus on physical layer approaches to exploit its capacity gain, the benefits of two-way relaying on upper…

We analyze a MISO downlink channel where a multi-antenna transmitter communicates with a large number of single-antenna receivers. Using linear beamforming or nonlinear precoding techniques, the transmitter can serve multiple users…

Recently, physical layer security based approaches have drawn considerable attentions and are envisaged to provide secure communications in the wireless networks. However, most existing literatures only focus on the physical layer. Thus,…

This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…

We study the throughput-vs-delay trade-off in an overlay multi-channel single-secondary-user cognitive radio system. Due to the limited sensing capabilities of the cognitive radio user, channels are sensed sequentially. Maximizing the…

We consider stochastic optimization with delayed gradients where, at each time step $t$, the algorithm makes an update using a stale stochastic gradient from step $t - d_t$ for some arbitrary delay $d_t$. This setting abstracts asynchronous…

Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…

Scheduling surgeries is a challenging task due to the fundamental uncertainty of the clinical environment, as well as the risks and costs associated with under- and over-booking. We investigate neural regression algorithms to estimate the…

There remain many open questions pertaining to the scaling behaviour of Transformer architectures. These scaling decisions and findings can be critical, as training runs often come with an associated computational cost which have both…

While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…

Teleoperated or remote-controlled driving complements automated driving and acts as transitional technology toward full automation. An economic advantage of teleoperated driving in logistics operations lies in managing fleets with fewer…

Ultra-reliable, low latency communications (URLLC) are currently attracting significant attention due to the emergence of mission-critical applications and device-centric communication. URLLC will entail a fundamental paradigm shift from…

Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by efficiency constraints in time and space, and the pipeline…