Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contention
A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, mud, fog, and darkness. And the single onboard processor it runs on is shared with planning and control, so the compute left over for perception moves around from second to second. Most systems model the two separately. We present a perception router that tracks probabilistic estimates of sensor-fault state and compute- contention state, couples them with a noisy-OR term, and uses the coupled estimate to pick one of four detector configurations (YOLO11x/n at 1280 or 640 px) so that the frame finishes before its deadline. Where the two stressors co-occur, the coupled policy cuts ...
| Authors | Sparsh Roy, Vihan Aggarwal, Davin Yin |
|---|---|
| Primary category | cs.RO |
| Published | 31 July 2026 |
| Last updated at source | 31 July 2026 |
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