TAMS: Task-Aware Multi-View Adaptive Streaming for Wireless Telerobotic Manipulation

2026-08-10

AI Summary

This study addresses the challenge of maintaining visual feedback quality and timeliness for multi-view video streams during critical phases of teleoperation under dynamically constrained wireless bandwidth. The authors propose a task-phase-aware adaptive bitrate allocation method that leverages lightweight signals from the robot side to identify operational phases in real time and dynamically optimizes bitrates for primary and auxiliary camera views. While prioritizing high fidelity in the primary view, the approach preserves basic visibility in auxiliary views. To the best of the authors’ knowledge, this is the first work to integrate task-phase awareness into multi-view video scheduling, enabling intention-driven intelligent bandwidth allocation. Experimental results demonstrate that, under the most stringent bandwidth conditions, the proposed method reduces task completion time from 68.9 to 43.9 seconds, increases success rate from 48% to 71%, and significantly improves the primary view’s SSIM.

Abstract

Wireless telerobotic manipulation relies on timely multi-view video feedback, but the available uplink bandwidth is often limited and dynamic. This paper presents Task-Aware Multi-View Adaptive Streaming (TAMS), a system that allocates video bitrate according to the current manipulation phase. TAMS infers task phase from lightweight robot-side signals and prioritizes the camera view most relevant to the operator while preserving baseline visibility for secondary views. Experiments on a six-degree-of-freedom (6-DoF) teleoperation testbed under three constrained network conditions show that TAMS improves primary view Structural Similarity Index (SSIM), reduces task completion time, and increases trial success rate compared with equal and static allocation baselines. Under the most constrained bandwidth condition, TAMS reduces mean completion time from 68.9 s to 43.9 s relative to equal allocation and increases trial success rate from 48% to 71%. Code is available at: https://github.com/Dzxx623/TAMS.

Problem

• wireless telerobotic manipulation
• multi-view video streaming
• bandwidth constraint
• adaptive bitrate allocation
• task-aware streaming

Innovation

• task-aware streaming
• multi-view video
• adaptive bitrate allocation
• wireless telerobotic manipulation
• 6-DoF teleoperation