Di Wu

Kun Wu, Chengkai Hou, Jiaming Liu et al.

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view observations, proprioceptive robot state information, and linguistic task descriptions. To ensure data consistency and reliability for imitation learning, RoboMIND is built on a unified data collection platform and a standardized protocol, covering four distinct robotic embodiments: the Franka Emika Panda, the UR5e, the AgileX dual-arm robot, and a humanoid robot with dual dexterous hands. Our dataset also includes 5k real-world failure demonstrations, each accompanied by detailed causes, enabling failure reflection and correction during policy learning. Additionally, we created a digital twin environment in the Isaac Sim simulator, replicating the real-world tasks and assets, which facilitates the low-cost collection of additional training data and enables efficient evaluation. To demonstrate the quality and diversity of our dataset, we conducted extensive experiments using various imitation learning methods for single-task settings and state-of-the-art Vision-Language-Action (VLA) models for multi-task scenarios. By leveraging RoboMIND, the VLA models achieved high manipulation success rates and demonstrated strong generalization capabilities. To the best of our knowledge, RoboMIND is the largest multi-embodiment teleoperation dataset collected on a unified platform, providing large-scale and high-quality robotic training data. Our project is at https://x-humanoid-robomind.github.io/.

Shuai Yu, Xu Chen, Zhi Zhou et al.

Ultra-dense edge computing (UDEC) has great potential, especially in the 5G era, but it still faces challenges in its current solutions, such as the lack of: i) efficient utilization of multiple 5G resources (e.g., computation, communication, storage and service resources); ii) low overhead offloading decision making and resource allocation strategies; and iii) privacy and security protection schemes. Thus, we first propose an intelligent ultra-dense edge computing (I-UDEC) framework, which integrates blockchain and Artificial Intelligence (AI) into 5G ultra-dense edge computing networks. First, we show the architecture of the framework. Then, in order to achieve real-time and low overhead computation offloading decisions and resource allocation strategies, we design a novel two-timescale deep reinforcement learning (\textit{2Ts-DRL}) approach, consisting of a fast-timescale and a slow-timescale learning process, respectively. The primary objective is to minimize the total offloading delay and network resource usage by jointly optimizing computation offloading, resource allocation and service caching placement. We also leverage federated learning (FL) to train the \textit{2Ts-DRL} model in a distributed manner, aiming to protect the edge devices' data privacy. Simulation results corroborate the effectiveness of both the \textit{2Ts-DRL} and FL in the I-UDEC framework and prove that our proposed algorithm can reduce task execution time up to 31.87%.