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With the emergence of the tactile internet, low-latency, even, real-time data transmission is indispensable for human-agent–robot teamwork. Offloading is considered a feasible approach. Determining the offloading solution according to the dynamic network circumstance is attractive. In this paper, we investigate the resource management issue in a three-tier, heterogeneous, fiber-wireless (FiWi) network with offloading. Based on the model of the wireless link, the fiber link, the data rate, and the offloading, a mixed-integer, non-linear problem is formulated to obtain the minimum total latency for tactile internet services. Through constraint relaxation, MINLP is converted to a linear problem (LP). A Lagrange multiplier method with Karush–Kuhn–Tucker (KKT) conditions is used to solve LP. Using the numerical simulation, the superiority of our work is evaluated and compared with the previous work.