TeleSim (TeleSim: A Network-Aware Testbed and Benchmark Dataset for Telerobotic Applications)

TeleSim is a network-aware hardware-in-the-loop dataset designed to evaluate the performance of telerobotic systems under varying network conditions. It includes 300 fine-manipulation trials using a 6-DoF robotic arm and simulated networks in OMNeT++. Each trial captures:

• Network configuration (bandwidth, latency, jitter, packet loss)
• Measured network metrics (throughput, delay, jitter, real packet loss)
• Video quality (PSNR, SSIM)
• Task performance (completion time, success rate)

Motivation: Existing teleoperation datasets often ignore the impact of real-world network degradation. TeleSim fills this gap by systematically evaluating how adverse conditions affect visual perception and task execution.

Use cases: - Benchmarking teleoperation performance - Designing adaptive control algorithms - Evaluating network resilience of robotic systems