Related papers: Real-Time Spacecraft Pose Estimation Using Mixed-P…

Spacecraft pose estimation networks require tens of thousands of CAD-rendered images to be trained. This reliance on synthetic CAD data (i) limits applicability to targets with reliable geometry prior, excluding uncooperative or poorly…

LiDAR sensors have been widely used in many autonomous vehicle modalities, such as perception, mapping, and localization. This paper presents an FPGA-based deep learning platform for real-time point cloud processing targeted on autonomous…

Computational complexity and storage requirements are crucial factors influencing the performance and efficiency of convolutional neural networks (CNNs) in resource-constrained environments. This paper presents a high-performance embedded…

A critical approach for efficiently deploying Mixture-of-Experts (MoE) models with massive parameters is quantization. However, state-of-the-art MoE models suffer from non-negligible accuracy loss with extreme quantization, such as under 4…

Reconfigurable architectures like Field Programmable Gate Arrays (FPGAs) have been used for accelerating computations in several domains because of their unique combination of flexibility, performance, and power efficiency. However, FPGAs…

Exploration tasks are essential to many emerging robotics applications, ranging from search and rescue to space exploration. The planning problem for exploration requires determining the best locations for future measurements that will…

In recent years, there has been a growing demand for improved autonomy for in-orbit operations such as rendezvous, docking, and proximity maneuvers, leading to increased interest in employing Deep Learning-based Spacecraft Pose Estimation…

Deep learning-based point cloud processing plays an important role in various vision tasks, such as autonomous driving, virtual reality (VR), and augmented reality (AR). The submanifold sparse convolutional network (SSCN) has been widely…

Field-Programmable Gate Arrays (FPGAs) have asserted themselves as vital assets in contemporary computing by offering adaptable, reconfigurable hardware platforms. FPGA-based accelerators incubate opportunities for breakthroughs in areas,…

Recurrent neural networks (RNNs), particularly LSTMs, are effective for time-series tasks like sentiment analysis and short-term stock prediction. However, their computational complexity poses challenges for real-time deployment in resource…

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…

Recent advancements in large language models (LLMs) boasting billions of parameters have generated a significant demand for efficient deployment in inference workloads. The majority of existing approaches rely on temporal architectures that…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

FPGAs have distinct advantages as a technology for deploying deep neural networks (DNNs) at the edge. Lookup Table (LUT) based networks, where neurons are directly modeled using LUTs, help maximize this promise of offering ultra-low latency…

This paper investigates the usage of FPGA devices for energy-efficient exact kNN search in high-dimension latent spaces. This work intercepts a relevant trend that tries to support the increasing popularity of learned representations based…

Quantization is a widely used technique to compress and accelerate deep neural networks. However, conventional quantization methods use the same bit-width for all (or most of) the layers, which often suffer significant accuracy degradation…

For efficient neural network inference, it is desirable to achieve state-of-the-art accuracy with the simplest networks requiring the least computation, memory, and power. Quantizing networks to lower precision is a powerful technique for…

Diffusion models have achieved significant visual generation quality. However, their significant computational and memory costs pose challenge for their application on resource-constrained mobile devices or even desktop GPUs. Recent…

Low precision data representation is important to reduce storage size and memory access for convolutional neural networks (CNNs). Yet, existing methods have two major limitations: (1) requiring re-training to maintain accuracy for deep…

Quantization is a powerful tool to improve large language model (LLM) inference efficiency by utilizing more energy-efficient low-precision datapaths and reducing memory footprint. However, accurately quantizing LLM weights and activations…