K-AoI: A Spatio-Temporal Synchronization Metric for Digital Twin-based Teleoperation in Dynamic Network Environments

Key points

• Existing synchronization metrics are predominantly time-based and rarely capture the spatial consequences of delayed information during motion.1
• In this paper, we introduce Kinematic Age of Information (K-AoI), a spatio-temporal metric that weights AoI by instantaneous Cartesian velocity, translating temporal staleness into physically meaningful spatial divergence.1
• We implement and evaluate K-AoI on a DT teleoperation testbed comprising a six-degrees-of-freedom (6-DOF) manipulator, a Unity-based twin, and controlled network impairments using tc netem across seven network conditions.1
• Overall, K-AoI provides a complementary and physically grounded synchronization metric, linking network delay to task-relevant spatial error in digital-twin teleoperation systems.1

Sources (1)

• [1]K-AoI: A Spatio-Temporal Synchronization Metric for Digital Twin-based Teleoperation in Dynamic Network Environments
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 11:29 AM

  Synchronization between a digital twin (DT) and its physical robot is critical for effective teleoperation, as mismatches directly degrade operator awareness and task performance.

  Existing synchronization metrics are predominantly time-based and rarely capture the spatial consequences of delayed information during motion.

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