A Goal-Oriented Semantic Communication for A Reliable Cybernetic Avatar Teleoperation System

摘要

Due to the urge to advance the human society toward a state of freedom from the limitation of body, brain, space and time, many technologies have been developed to enable the achievement of this goal. An important technology considered to enable the achievement of this goal is the Cybernetic Avatar (CA) teleoperation system. A CA teleoperation system is a robotic system designed to act as human surrogates in remote environments. While being an important enabler to achieve freedom from human limitations, the amount of data generated by the CA operation increases rapidly especially in a multiple operators and avatars scenarios. This leads to a communication bottleneck problem, especially in resource limited situations, where the bandwidth is not sufficient to efficiently transmit the large amount of data. Many approaches have been proposed to address this challenge, but one promising approach is semantic communication, which consist of transmitting the meaning of data rather than the raw data. In this paper, we propose a semantic communication model using a goal-oriented approach. We applied this model to improve the communication performance in a CA teleoperation. Simulation results show an improvement on the reliability of the CA teleoperation.