SkyNet: An Extensible Edge-Cloud Collaborative Framework for Robots in Long-Horizon Tasks
Why this work is in the frame
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Bibliographic record
Abstract
Large language models (LLMs) have shown promise in empowering robotics, but their widespread real-world application remains challenging due to two main issues: (1) existing research is "out-of-the-box", struggling to generalize to new robots and tasks, especially long-horizon tasks, and (2) deploying more general and powerful LLMs exceeds the capabilities of commodity hardware. To address these challenges, we propose the edge-cloud collaborative framework, i.e., SkyNet. We deploy LLMs in the cloud to create initial plans, select executable skills from a predefined library, and send them to the edge-based robot. The robot integrates multiple modules to form a policy network to complete the skills and update the feedback history. Based on the feedback history, the cloud LLMs determine whether to replan. The edge-cloud collaborative approach alleviates the pressure of deploying LLMs on commodity hardware, while the modular design enables easy extension to different tasks or robots without reconfiguring everything. To address the lack of standardized real-world experimental setups, we set up two easily replicable long-horizon tasks on a mobile robot equipped with commodity hardware, analyze the performance of various modules, and demonstrated the effectiveness of SkyNet.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.005 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it