TL;DR
TeleSim is a comprehensive, network-aware dataset and testbed for evaluating telerobotic systems under varied network conditions, emphasizing the impact of network quality on performance and robustness.
Contribution
Introduces TeleSim, a novel dataset and testbed that systematically models network effects on teleoperation tasks, with publicly available software and data for benchmarking.
Findings
Network degradation significantly increases task completion time.
Success rates decrease notably under poor network conditions.
Video quality metrics decline as network quality worsens.
Abstract
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 to real-world deployment. However, there is a notable lack of datasets that capture the impact of network delays, as well as testbeds that realistically model the communication link between the operator and the robot. This paper introduces TeleSim, a network-aware teleoperation dataset and testbed designed to assess the performance of telerobotic applications under diverse network conditions. TeleSim systematically collects performance data from fine manipulation tasks executed under three predefined network quality tiers: High, Medium, and Low. Each tier is characterized through controlled settings of bandwidth, latency, jitter, and packet loss.…
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