arXiv subjects

Caolu Xu

Publications and source records attributed to Caolu Xu.

3 recordsLinked to original sources

arXiv2026

Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation

Wireless extended reality (XR) teleoperation provides embodied interaction capability for collecting humanoid robot demonstrations, but the large-scale adoption is restricted by the overhead of high-frequency motion transmission. This paper develops a system framework that integrates sampling, transmission, interpolation, and reconstruction and formulates a communication-rate optimization that aims to minimize the communication energy while maintaining the reconstruction accuracy of robot motion trajectories through dimension-wise sampling-rate control. Since acquiring real-time feedback from physical robots is limited by hardware costs, it is necessary to solve the problem through simulator interaction with offline real-domain data correction. To guide sim-to-real adaptation, we provide a PAC-Bayes generalization characterization that reveals the effects of latent density-ratio estimation, finite-sample deviation, and encoder bias. Building on this analysis, we propose a proximal policy optimization (PPO) method with density-ratio weighting and trust-region regularization. Experiments on public humanoid teleoperation dataset show that the proposed method improves the tradeoff between reconstruction error and communication energy consumption under sim-to-real distribution shift. We further analyze the effectiveness of the proposed algorithm across various wireless channels and dynamic motion trajectories.

cs.IT↗

arXiv2025

Spatial Computing Communications for Multi-User Virtual Reality in Distributed Mobile Edge Computing Network

Immersive virtual reality (VR) applications impose stringent requirements on latency, energy efficiency, and computational resources, particularly in multi-user interactive scenarios. To address these challenges, we introduce the concept of spatial computing communications (SCC), a framework designed to meet the latency and energy demands of multi-user VR over distributed mobile edge computing (MEC) networks. SCC jointly represents the physical space, defined by users and base stations, and the virtual space, representing shared immersive environments, using a probabilistic model of user dynamics and resource requirements. The resource deployment task is then formulated as a multi-objective combinatorial optimization (MOCO) problem that simultaneously minimizes system latency and energy consumption across distributed MEC resources. To solve this problem, we propose MO-CMPO, a multi-objective consistency model with policy optimization that integrates supervised learning and reinforcement learning (RL) fine-tuning guided by preference weights. Leveraging a sparse graph neural network (GNN), MO-CMPO efficiently generates Pareto-optimal solutions. Simulations with real-world New Radio base station datasets demonstrate that MO-CMPO achieves superior hypervolume performance and significantly lower inference latency than baseline methods. Furthermore, the analysis reveals practical deployment patterns: latency-oriented solutions favor local MEC execution to reduce transmission delay, while energy-oriented solutions minimize redundant placements to save energy.

cs.IT↗

arXiv2024

Wireless Multi-User Interactive Virtual Reality in Metaverse with Edge-Device Collaborative Computing

The immersive nature of the metaverse presents significant challenges for wireless multi-user interactive virtual reality (VR), such as ultra-low latency, high throughput and intensive computing, which place substantial demands on the wireless bandwidth and rendering resources of mobile edge computing (MEC). In this paper, we propose a wireless multi-user interactive VR with edge-device collaborative computing framework to overcome the motion-to-photon (MTP) threshold bottleneck. Specifically, we model the serial-parallel task execution in queues within a foreground and background separation architecture. The rendering indices of background tiles within the prediction window are determined, and both the foreground and selected background tiles are loaded into respective processing queues based on the rendering locations. To minimize the age of sensor information and the power consumption of mobile devices, we optimize rendering decisions and MEC resource allocation subject to the MTP constraint. To address this optimization problem, we design a safe reinforcement learning (RL) algorithm, active queue management-constrained updated projection (AQM-CUP). AQM-CUP constructs an environment suitable for queues, incorporating expired tiles actively discarded in processing buffers into its state and reward system. Experimental results demonstrate that the proposed framework significantly enhances user immersion while reducing device power consumption, and the superiority of the proposed AQM-CUP algorithm over conventional methods in terms of the training convergence and performance metrics.

cs.IT↗