耦合传感器故障与计算竞争下的信念空间感知路由
Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contention
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中文总结 AI 辅助
本文针对机器人感知中传感器故障与计算竞争的耦合问题，提出信念空间感知路由机制，可降低截止时间错过率，经实验验证其机制有效性，但未发现该耦合自然存在的证据。
中文摘要 AI 辅助
机器人需按固定时钟周期感知并响应，会同时面临两类问题：相机在雨、泥、雾、黑暗环境中性能下降，且其搭载的单一板载处理器需同时运行规划与控制任务，分配给感知的算力每秒都会变化。多数系统将这两类问题分开建模，本文提出一种感知路由机制，该机制跟踪传感器故障状态与计算竞争状态的概率估计，通过带噪或项（noisy-OR term）将二者耦合，再利用耦合后的估计值从四种检测器配置（1280或640像素的YOLO11x/n）中选择一种，确保帧在截止时间前完成。当两类压力源同时出现时，与将二者独立处理的策略相比，耦合策略可将截止时间错过率降低1.1至9.4个百分点；在6种条件中有5种的区间不包含0，10个序列与6种条件的合并效应符号检验p值为0.001，所有未耦合对照组及无故障轨迹的错过率均恰好为0个百分点，且每帧路由仅耗时数十微秒。随后本文探究该方法所利用的耦合是否自然存在：在8个真实RADIATE恶劣天气序列及3个与故障信号无关的工作量代理中，经Benjamini-Hochberg校正与重复实验后，24项测试均未发现该耦合。本文报告了该零结果，并将路由结果限定为机制证明，该耦合是否在实际场景中存在仍未知，发布的评估流程可让部署系统在自身轨迹数据中自行验证。
英文摘要
A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, mud, fog, and darkness. And the single onboard processor it runs on is shared with planning and control, so the compute left over for perception moves around from second to second. Most systems model the two separately. We present a perception router that tracks probabilistic estimates of sensor-fault state and compute- contention state, couples them with a noisy-OR term, and uses the coupled estimate to pick one of four detector configurations (YOLO11x/n at 1280 or 640 px) so that the frame finishes before its deadline. Where the two stressors co-occur, the coupled policy cuts the deadline-miss rate by 1.1 to 9.4 percentage points against a policy that treats them independently. The interval excludes zero in five of six conditions, the pooled effect over 10 sequences and 6 conditions has sign-test p = 0.001, and every uncoupled control and the fault-free trajectory sit at exactly 0.0 pp. Routing costs tens of microseconds per frame. We then asked whether the coupling the method exploits arises on its own. Across eight real RADIATE adverse-weather sequences and three workload proxies independent of the fault signal, after Benjamini-Hochberg correction and a replication run, none of 24 tests found it. We report that null and scope the routing result as a proof of mechanism. Whether such coupling occurs in the field is still open, and the released evaluation pipeline lets a deployment settle it on its own traces.
