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

• URL: http://arxiv.org/abs/2605.19293v1
• Date: Tue, 19 May 2026 03:13:09 GMT
• Title: Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation
• Abstract summary: Wireless extended reality (XR) teleoperation provides embodied interaction capability for collecting humanoid robot demonstrations.<n>This paper develops a system framework that integrates sampling, transmission, the reconstruction and formulates a communication-rate optimization.
• Score: 45.11184664928145
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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