Abstract
Teleoperation systems experience degraded control stability and safety due to dynamic communication delays. This study proposes an Interpolation Predictor for Teleoperation under Dynamic Communication Delay (IPT-DCD), a predictor that reconstructs asynchronously received control commands via interpolation and predicts future commands using an encoder-decoder LSTM architecture. To restore the temporal consistency of delayed signals, a signal preprocessing technique called the Backward Shifting and Interpolation (BSI) was applied, enabling the transformation of received data into an undelayed and uniformly sampled format. As a result, the proposed model was capable of generating real-time steering command outputs through a many-to-many time series structure. Furthermore, to evaluate its effectiveness, IPT-DCD was experimentally compared with a baseline model, a Predictor for Teleoperation under Dynamic Communication Delay (PT-DCD). The results reveal that IPT-DCD exhibits significantly greater robustness to large communication delay outliers than the baseline, highlighting its effectiveness in dynamic and unstable teleoperation environments.