通过运动实现远程可检测的密钥通信
Remotely Detectable Keyed Communication through Motion
- University of Cambridge（剑桥大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出通过修改机器人动作来编码消息，实现无需额外硬件的远程可检测通信，并在模拟和真实机器人上验证了编码方案的有效性。
AI中文摘要：
电子设备的消息通常以文本、音频或无线电信号的形式接收。但机器人在现实世界中以丰富、清晰的动作移动，这开启了通过运动本身传输消息的可能性。在本文中，我们考虑基于运动的通信问题，旨在修改机器人的动作，以传输可从远程传感（如视频或动作捕捉）检测到的消息，同时不降低策略性能。我们提出了一种通过运动进行消息传递的方法，能够将任意消息内容（如智能体的当前意图）编码为任何预训练策略动作中的噪声，适用于短载荷。这为机器人通信带来了一种新的鲁棒性：这种“物理”信道补充了标准无线通信信道，但不依赖于它们，无需额外硬件或建立与机器人的直接链路。我们系统地刻画了编码方案的空间并推导出设计启发式规则，然后在模拟环境和真实机器人部署中进行了验证；在50 Hz运行的实机上，四个机器人联合以0.67比特/秒的聚合速率恢复8位消息。
英文摘要：
Messages from electronic devices are conventionally received as text, audio, or radio signals. But robots move with rich, articulate motion in the real world, opening up the possibility of transmitting messages through motion itself. In this paper, we consider the problem of motion-based communication, where we seek to modify a robot's movements so as to transmit messages detectable from remote sensing (e.g., video or motion capture), without degrading policy performance. We introduce a method for messaging through motion capable of encoding arbitrary message content over short payloads - such as an agent's current intent - as noise in any pre-trained policy's actions. This brings a new kind of robustness to robot communication: this 'physical' channel complements standard wireless communications channels but does not depend on them, requiring no extra hardware nor the establishment of a direct link to the robot. We systematically characterize the space of encoding schemes and derive design heuristics, then validate them across simulated environments and real-robot deployment; on real robots running at 50 Hz, four robots jointly recover an 8-bit message at an aggregate 0.67 bits/s.
