# Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation

arXiv: https://arxiv.org/abs/2605.19293 · HTML: https://mlsanity.com/paper/2605.19293/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 30 references that are in the map.
- First posted on arXiv 19 May 2026.

## Builds on (most cited first, 16 of 16)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Trust Region Policy Optimization](https://mlsanity.com/paper/1502.05477/) (2015)
- [High-Dimensional Continuous Control Using Generalized Advantage Estimation](https://mlsanity.com/paper/1506.02438/) (2015)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Deep CORAL: Correlation Alignment for Deep Domain Adaptation](https://mlsanity.com/paper/1607.01719/) (2016)
- [Causal World Modeling for Robot Control](https://mlsanity.com/paper/2601.21998/) (2026)
- [Real-Time Execution of Action Chunking Flow Policies](https://mlsanity.com/paper/2506.07339/) (2025)
- [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://mlsanity.com/paper/2502.01143/) (2025)
- [Humanoid Policy ~ Human Policy](https://mlsanity.com/paper/2503.13441/) (2025)
- [Learning Humanoid Standing-up Control across Diverse Postures](https://mlsanity.com/paper/2502.08378/) (2025)
- [Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation](https://mlsanity.com/paper/2510.08807/) (2025)
- [Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer](https://mlsanity.com/paper/2512.01061/) (2025)
- [Sampling, Communication, and Prediction Co-Design for Synchronizing the Real-World Device and Digital Model in Metaverse](https://mlsanity.com/paper/2208.04233/) (2022)
- [Task-Oriented Cross-System Design for Timely and Accurate Modeling in the Metaverse](https://mlsanity.com/paper/2309.05622/) (2023)
- [Prediction, Communication, and Computing Duration Optimization for VR Video Streaming](https://mlsanity.com/paper/1910.13884/) (2019)
- [Wireless Multi-User Interactive Virtual Reality in Metaverse with Edge-Device Collaborative Computing](https://mlsanity.com/paper/2407.20523/) (2024)

## Abstract (arXiv)

Wireless extended reality (XR) teleoperation provides embodied interaction capability for collecting humanoid robot demonstrations, but the large-scale adoption is restricted by the overhead of high-frequency motion transmission. This paper develops a system framework that integrates sampling, transmission, interpolation, and reconstruction and formulates a communication-rate optimization that aims to minimize the communication energy while maintaining the reconstruction accuracy of robot motion trajectories through dimension-wise sampling-rate control. Since acquiring real-time feedback from physical robots is limited by hardware costs, it is necessary to solve the problem through simulator interaction with offline real-domain data correction. To guide sim-to-real adaptation, we provide a PAC-Bayes generalization characterization that reveals the effects of latent density-ratio estimation, finite-sample deviation, and encoder bias. Building on this analysis, we propose a proximal policy optimization (PPO) method with density-ratio weighting and trust-region regularization. Experiments on public humanoid teleoperation dataset show that the proposed method improves the tradeoff between reconstruction error and communication energy consumption under sim-to-real distribution shift. We further analyze the effectiveness of the proposed algorithm across various wireless channels and dynamic motion trajectories.