Immersive Teleoperation Framework for Locomanipulation Tasks

Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperforming traditional methods reliant on 2D camera feeds and joystick controls. Despite these advancements, challenges remain, particularly concerning user experience across different setups. This paper introduces a novel VR-based teleoperation framework designed for a robotic manipulator integrated onto a mobile platform. Central to our approach is the application of Gaussian splatting, a technique that abstracts the manipulable scene into a VR environment, thereby enabling more intuitive and immersive interactions. Users can navigate and manipulate within the virtual scene as if interacting with a real robot, enhancing both the engagement and efficacy of teleoperation tasks. An extensive user study validates our approach, demonstrating significant usability and efficiency improvements. Two-thirds (66%) of participants completed tasks faster, achieving an average time reduction of 43%. Additionally, 93% preferred the Gaussian Splat interface overall, with unanimous (100%) recommendations for future use, highlighting improvements in precision, responsiveness, and situational awareness. Finally, we demonstrate the effectiveness of our framework through real-world experiments in two distinct application scenarios, showcasing the practical capabilities and versatility of the Splat-based VR interface.

Analyzing Spatio-Temporal Dynamics of Dissolved Oxygen for the River Thames using Superstatistical Methods and Machine Learning

By employing superstatistical methods and machine learning, we analyze time series data of water quality indicators for the River Thames, with a specific focus on the dynamics of dissolved oxygen. After detrending, the probability density functions of dissolved oxygen fluctuations exhibit heavy tails that are effectively modeled using $q$-Gaussian distributions. Our findings indicate that the multiplicative Empirical Mode Decomposition method stands out as the most effective detrending technique, yielding the highest log-likelihood in nearly all fittings. We also observe that the optimally fitted width parameter of the $q$-Gaussian shows a negative correlation with the distance to the sea, highlighting the influence of geographical factors on water quality dynamics. In the context of same-time prediction of dissolved oxygen, regression analysis incorporating various water quality indicators and temporal features identify the Light Gradient Boosting Machine as the best model. SHapley Additive exPlanations reveal that temperature, pH, and time of year play crucial roles in the predictions. Furthermore, we use the Transformer to forecast dissolved oxygen concentrations. For long-term forecasting, the Informer model consistently delivers superior performance, achieving the lowest MAE and SMAPE with the 192 historical time steps that we used. This performance is attributed to the Informer's ProbSparse self-attention mechanism, which allows it to capture long-range dependencies in time-series data more effectively than other machine learning models. It effectively recognizes the half-life cycle of dissolved oxygen, with particular attention to key intervals. Our findings provide valuable insights for policymakers involved in ecological health assessments, aiding in accurate predictions of river water quality and the maintenance of healthy aquatic ecosystems.