Dataset for the Paper "O-RACES: Proactive AI-driven Scheduling in Open RAN for 6G-Networked Humanoid Robots"

The dataset includes experimental data for three different uplink schedulers: a reactive scheduling baseline, a static pre-scheduling baseline, and the proposed O-RACES proactive scheduler. A demo video of the experiments is available at tiny.cc/O-RACES-Humanoid. If you use this dataset, please cite the corresponding paper.

The pre-print version of the paper is available under: Pre-Print Paper. Directory structure Data is grouped by scenario (used scheduler) and by the number of parallel environments (robots) used during the experiment: reactive/<N>/ (Conventional Reactive Uplink Slicing Scheduling) static/<N>/ (Static Uplink Pre-Scheduling) predictive/<N>/ (Proposed O-RACES Scheduler) where <N> is one of 1, 2, 4, 8, 16. Each directory contains 16 runs run01, run02, ... , run16 Description of Files per run Each run consists of three CSV files: File: runXX_robot.csv Description: Robot log (state, commands, actions, torques, observations) Time columns: timestamp_ms, sim_time_s File: runXX_controller.csv Description: Controller-side metrics at the AI Edge Cloud Time columns: timestamp_ms File: runXX_ran.csv Description: Real-World Open RAN network metrics Time columns: timestamp_ms Timebase: - timestamp_ms is aligned across files and starts at 0 for each run. - sim_time_s is the robot simulation time and starts at 0 for each run.

File Details: Information about the specific files is included in the README.md file in the dataset root directory. Support If you have any issues with the supplied data, please feel free to contact one of the article's authors. Acknowledgments This work has been funded by the Federal Ministry of Research, Technology and Space (BMFTR) via the 6GEM research hub and the 6GEM+ transfer hub under funding references 16KISK038 and 16KIS2412.

How to cite Please cite this paper if you use the data: N. A. Wagner, C. Wietfeld, “O-RACES: Proactive AI-driven Scheduling in Open RAN for 6G-Networked Humanoid Robots,” IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS), May 2026. @inproceedings{wagner2026oraces, author = {Niklas A. Wagner and Christian Wietfeld}, title = {{O-RACES}: Proactive {AI}-driven Scheduling in {Open RAN} for {6G}-Networked Humanoid Robots}, booktitle = {IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS)}, location = {Tokyo, Japan}, year = {2026} }