Remotely Detectable Keyed Communication through Motion

2026-09-08

AI Summary

本文解决了通过运动传输信息的问题，提出一种在不降低性能的前提下修改机器人动作以传递可远程检测信息的方法。

Abstract

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.

Problem

• motion-based communication
• remote sensing
• policy performance

Innovation

• motion-based communication
• robot motion
• message encoding
• policy performance
• robustness