让机器人用动作传消息，不靠无线信号也能远程读取。
Remotely Detectable Keyed Communication through Motion
- 用预训练策略的动作为载体，加噪声编码消息内容。
- 实测4台机器人同步传8位消息，总速率0.67比特/秒。
- 无需额外硬件，适合无网络环境下的机器人通信。
电子设备的传统信息接收方式为文本、音频或无线电波。但机器人在真实世界中以丰富而精准的动作运行，为通过动作本身传递信息提供了可能。本文研究基于动作的通信问题：在不降低策略性能的前提下，修改机器人的运动轨迹，使其传输可被远程感知（如视频或动捕）的消息。提出一种动作编码方法，能将任意消息内容（如代理当前意图）以噪声形式嵌入预训练策略的动作中。该方法带来新维度的鲁棒性——这一‘物理’通道可补充传统无线通信，却无需依赖后者，不需额外硬件，也无需与机器人建立直接连接。系统分析了多种编码方案并提炼出设计原则，随后在模拟环境和真实机器人上验证。在50赫兹运行的真实机器人上，四台机器人联合恢复8比特消息，总速率0.67比特/秒。
原文摘要 · Abstract (English)
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.
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