Teleoperation can be very difficult due to limited perception, high communication latency, and limited degrees of freedom (DoFs) at the operator side. Autonomous teleoperation is proposed to overcome this difficulty by predicting user intentions and performing some parts of the task autonomously to decrease the demand on the operator and increase the task completion rate. However, decision-making for mode-switching is generally assumed to be done by the operator, which brings an extra DoF to be controlled by the operator and introduces extra mental demand. On the other hand, the communication perspective is not investigated in the current literature, although communication imperfections and resource limitations are the main bottlenecks for teleoperation. In this study, we propose an intelligent mode-switching framework by jointly considering mode-switching and communication systems. User intention recognition is done at the operator side. Based on user intention recognition, a deep reinforcement learning (DRL) agent is trained and deployed at the operator side to seamlessly switch between autonomous and teleoperation modes. A real-world data set is collected from our teleoperation testbed to train both user intention recognition and DRL algorithms. Our results show that the proposed framework can achieve up to 50% communication load reduction with improved task completion probability.

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, and rendering are considered. To optimize a scheduling policy and prediction horizons, we design a Constraint Proximal Policy Optimization(C-PPO) algorithm by integrating domain knowledge from relevant systems into the advanced reinforcement learning algorithm, Proximal Policy Optimization(PPO). Specifically, the Jacobian matrix for analyzing the motion of the robotic arm is included in the state of the C-PPO algorithm, and the Conditional Value-at-Risk(CVaR) of the state-value function characterizing the long-term modeling error is adopted in the constraint. Besides, the policy is represented by a two-branch neural network determining the scheduling policy and the prediction horizons, respectively. To evaluate our algorithm, we build a prototype including a real-world robotic arm and its digital model in the Metaverse. The experimental results indicate that domain knowledge helps to reduce the convergence time and the required packet rate by up to 50%, and the cross-system design framework outperforms a baseline framework in terms of the required packet rate and the tail distribution of the modeling error.

This paper presents the Never Ending Open Learning Adaptive Framework (NEOLAF), an integrated neural-symbolic cognitive architecture that models and constructs intelligent agents. The NEOLAF framework is a superior approach to constructing intelligent agents than both the pure connectionist and pure symbolic approaches due to its explainability, incremental learning, efficiency, collaborative and distributed learning, human-in-the-loop enablement, and selfimprovement. The paper further presents a compelling experiment where a NEOLAF agent, built as a problem-solving agent, is fed with complex math problems from the open-source MATH dataset. This paper presents the Never Ending Open Learning Adaptive Framework (NEO-LAF), which is an integrated neural-symbolic cognitive architecture. It can be used to model and construct intelligent agents, such as self-improving intelligent tutor agents in an adaptive instructional system environment.

Prediction has recently been considered as a promising approach to meet low-latency and high-reliability requirements in long-distance haptic communications. However, most of the existing methods did not take features of tasks and the relationship between prediction and communication into account. In this paper, we propose a task-oriented prediction and communication co-design framework, where the reliability of the system depends on prediction errors and packet losses in communications. The goal is to minimize the required radio resources subject to the low-latency and high-reliability requirements of various tasks. Specifically, we consider the just noticeable difference (JND) as a performance metric for the haptic communication system. We collect experiment data from a real-world teleoperation testbed and use time-series generative adversarial networks (TimeGAN) to generate a large amount of synthetic data. This allows us to obtain the relationship between the JND threshold, prediction horizon, and the overall reliability including communication reliability and prediction reliability. We take 5G New Radio as an example to demonstrate the proposed framework and optimize bandwidth allocation and data rates of devices. Our numerical and experimental results show that the proposed framework can reduce wireless resource consumption up to 77.80% compared with a task-agnostic benchmark.