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基于动态特征压缩的远程控制任务语义有效通信

Semantic and Effective Communication for Remote Control Tasks with Dynamic Feature Compression

University of Padova(帕多瓦大学)

Pietro Talli, Francesco Pase, Federico Chiariotti, Andrea Zanella, Michele Zorzi

摘要:

机器人群的协调和工业系统的远程无线控制是5G及以上系统的主要用例之一:在这些情况下,需要通过无线介质共享的大量传感信息甚至会使高容量连接过载。因此,通过优化传输策略以丢弃不相关的信息来解决有效通信问题可以提供显著的优点,但是通常是非常复杂的任务。在这项工作中,我们考虑了一个原型系统,其中观察者必须将其感官数据传达给控制任务的演员(例如,工厂中的移动机器人)。然后,我们将其建模为远程部分可观察马尔可夫决策过程(POMDP),考虑到采用语义和有效的面向通信的解决方案对整体系统性能的影响。我们通过考虑集成矢量量化变分自编码器(VQ-VAE)编码来拆分通信问题,并训练深度强化学习(DRL)代理以动态适应量化级别,同时考虑环境的当前状态和过去消息的记忆。我们在著名的CartPole参考控制问题上测试了所提出的方法,与传统方法相比,获得了显着的性能提高

英文摘要:

The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the wireless medium can overload even high-capacity connections. Consequently, solving the effective communication problem by optimizing the transmission strategy to discard irrelevant information can provide a significant advantage, but is often a very complex task. In this work, we consider a prototypal system in which an observer must communicate its sensory data to an actor controlling a task (e.g., a mobile robot in a factory). We then model it as a remote Partially Observable Markov Decision Process (POMDP), considering the effect of adopting semantic and effective communication-oriented solutions on the overall system performance. We split the communication problem by considering an ensemble Vector Quantized Variational Autoencoder (VQ-VAE) encoding, and train a Deep Reinforcement Learning (DRL) agent to dynamically adapt the quantization level, considering both the current state of the environment and the memory of past messages. We tested the proposed approach on the well-known CartPole reference control problem, obtaining a significant performance increase over traditional approaches

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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