{"id":"https://openalex.org/W7139936056","doi":"https://doi.org/10.48550/arxiv.2603.18284","title":"Offload or Overload: A Platform Measurement Study of Mobile Robotic Manipulation Workloads","display_name":"Offload or Overload: A Platform Measurement Study of Mobile Robotic Manipulation Workloads","publication_year":2026,"publication_date":"2026-03-18","ids":{"openalex":"https://openalex.org/W7139936056","doi":"https://doi.org/10.48550/arxiv.2603.18284"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.18284","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18284","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.18284","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087146422","display_name":"Sara Pohland","orcid":"https://orcid.org/0000-0003-2746-6372"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pohland, Sara","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050472384","display_name":"Xenofon Foukas","orcid":"https://orcid.org/0000-0002-1234-9096"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Foukas, Xenofon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031071237","display_name":"Ganesh Ananthanarayanan","orcid":"https://orcid.org/0000-0002-7479-1664"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ananthanarayanan, Ganesh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101862316","display_name":"Andrey Kolobov","orcid":"https://orcid.org/0000-0003-4966-7466"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kolobov, Andrey","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130232695","display_name":"Sanjeev Mehrotra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehrotra, Sanjeev","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031491047","display_name":"Bo\u017eidar Radunovi\u0107","orcid":"https://orcid.org/0009-0002-9187-0169"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Radunovic, Bozidar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130247784","display_name":"Ankit Verma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Verma, Ankit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7062000036239624,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7062000036239624,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.05420000106096268,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.03739999979734421,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5746999979019165},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.555899977684021},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5480999946594238},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4733999967575073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45680001378059387},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4496000111103058},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.43810001015663147},{"id":"https://openalex.org/keywords/mobile-cloud-computing","display_name":"Mobile cloud computing","score":0.39959999918937683}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7488999962806702},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5746999979019165},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.555899977684021},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5480999946594238},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4733999967575073},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4611000120639801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.43810001015663147},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42419999837875366},{"id":"https://openalex.org/C2779191767","wikidata":"https://www.wikidata.org/wiki/Q6887075","display_name":"Mobile cloud computing","level":3,"score":0.39959999918937683},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3822999894618988},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.3052999973297119},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2863999903202057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2786000072956085},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.26649999618530273},{"id":"https://openalex.org/C153646914","wikidata":"https://www.wikidata.org/wiki/Q535695","display_name":"Cellular network","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.18284","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18284","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.18284","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18284","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robotic":[1,42],"manipulation--the":[2],"ability":[3],"of":[4,16,40,108],"robots":[5],"to":[6,23,61,122],"navigate":[7],"spaces":[8],"and":[9,48,93,106],"interact":[10],"with":[11],"objects--is":[12],"a":[13,30],"core":[14],"capability":[15],"physical":[17],"AI.":[18],"Foundation":[19],"models":[20],"have":[21],"led":[22],"breakthroughs":[24],"in":[25],"their":[26],"performance,":[27],"but":[28,81],"at":[29],"significant":[31],"computational":[32],"cost.":[33],"We":[34,52,114],"present":[35],"the":[36,55,94],"first":[37],"measurement":[38,117],"study":[39,118],"mobile":[41,127],"manipulation":[43],"workloads":[44],"across":[45,111],"onboard,":[46],"edge,":[47],"cloud":[49,99],"GPU":[50],"platforms.":[51],"find":[53],"that":[54],"full":[56],"workload":[57],"stack":[58],"is":[59],"infeasible":[60],"run":[62],"on":[63],"smaller":[64],"onboard":[65,69],"GPUs,":[66],"while":[67],"larger":[68],"GPUs":[70],"drain":[71],"robot":[72,112],"batteries":[73],"several":[74],"hours":[75],"faster.":[76],"Offloading":[77],"alleviates":[78],"these":[79],"constraints":[80],"introduces":[82],"its":[83],"own":[84],"challenges,":[85],"as":[86],"additional":[87],"network":[88],"latency":[89],"degrades":[90],"task":[91],"accuracy,":[92],"bandwidth":[95],"requirement":[96],"makes":[97],"naive":[98],"offloading":[100],"impractical.":[101],"Finally,":[102],"we":[103],"quantify":[104],"opportunities":[105],"pitfalls":[107],"sharing":[109],"compute":[110],"fleets.":[113],"believe":[115],"our":[116],"will":[119],"be":[120],"crucial":[121],"designing":[123],"inference":[124],"systems":[125],"for":[126],"robots.":[128]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-21T00:00:00"}