网络化具身通信：从集体可区分性到通信可靠性

中文摘要 AI 辅助

具身智能体需要向周围基础设施传递信息，但其主动通信接口可能不可用、受限或故意不可用。操控物理状态的能力提供了一条补充路径：消息可以被编码在精心选择的配置中，并通过基础设施感知来恢复。这一原理构成了具身通信的基础。然而，物理差异并不能保证消息可区分：单一的感知视角可能留下重复感知无法解决的歧义。本文发展了网络化具身通信，其中分布式接入点（APs）在固定感知模型下联合观测携带消息的散射体位置。在相关高斯感知模型下，我们刻画了接收AP提供的额外可区分性，建立了精确的冗余条件，并揭示了单次观测中不存在的区分如何通过跨AP统计关系而涌现。随后，我们建立了有限字母表在重复独立感知下的精确渐近最优最大误差行为。不可区分消息的最大群组决定了错误底限；一旦所有消息可区分，最小成对Chernoff信息决定了错误指数。对于给定的字母表，接收端合作因此可以消除任何单个AP重复感知无法克服的错误底限。基于这些结果，我们推导了有限预算下的可靠性条件，并联合设计接收AP集合和消息承载位置。数值结果表明，所提出的搜索在简化实例上接近精确基准，且候选评估次数远少于穷举枚举，而接收端合作减少了保证可靠解码所需的感知间隔。

英文摘要

Embodied agents need to convey information to surrounding infrastructure, but their active communication interfaces may be unavailable, constrained, or intentionally inactive. Their ability to manipulate physical states offers a complementary path: messages can be encoded in deliberately selected configurations and recovered through infrastructure sensing. This principle underlies embodied communication. Yet physical differences do not guarantee distinguishable messages: a single sensing viewpoint may leave ambiguities that repeated sensing cannot resolve. This paper develops networked embodied communication, where distributed access points (APs) jointly observe message-bearing scatterer positions under fixed illumination. Under a correlated Gaussian sensing model, we characterize the additional distinguishability supplied by receive APs, establish exact redundancy conditions, and reveal how distinctions absent from individual observations can emerge through cross-AP statistical relationships. We then establish the exact asymptotic optimal maximum-error behavior of a finite alphabet under repeated independent sensing. The largest group of indistinguishable messages determines the error floor; once all messages are distinguishable, the minimum pairwise Chernoff information determines the error exponent. For a given alphabet, receiver cooperation can therefore eliminate an error floor that repetition at any individual AP cannot overcome. Building on these results, we derive finite-budget reliability conditions and jointly design the receive AP set and message-bearing positions. Numerical results show that the proposed search closely approaches exact benchmarks on reduced instances with substantially fewer candidate evaluations than exhaustive enumeration, while receiver cooperation reduces the sensing intervals needed to guarantee reliable decoding.

发表机构

• The University of Hong Kong（香港大学）

机构由 AI 辅助整理，请以论文原文为准。