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Trajectory optimization and posture generation are hard problems in robot locomotion, which can be non-convex and have multiple local optima. Progress on these problems is further hindered by a lack of open benchmarks, since comparisons of…
The increase in open-source availability of Large Language Models (LLMs) has enabled users to deploy them on more and more resource-constrained edge devices to reduce reliance on network connections and provide more privacy. However, the…
Existing FPGA-based DNN accelerators typically fall into two design paradigms. Either they adopt a generic reusable architecture to support different DNN networks but leave some performance and efficiency on the table because of the…
Neutral atoms have emerged as a promising technology for implementing quantum computers due to their scalability and long coherence times. However, the execution frequency of neutral atom quantum computers is constrained by image processing…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
With the tremendous success of deep learning, there exists imminent need to deploy deep learning models onto edge devices. To tackle the limited computing and storage resources in edge devices, model compression techniques have been widely…
Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…
The quality of industrial components is critical to the production of special equipment such as robots. Defect inspection of these components is an efficient way to ensure quality. In this paper, we propose a hybrid network, SSD-Faster Net,…
Edge devices like Nvidia Jetson platforms now offer several on-board accelerators -- including GPU CUDA cores, Tensor Cores, and Deep Learning Accelerators (DLA) -- which can be concurrently exploited to boost deep neural network (DNN)…
The Transformer has been an indispensable staple in deep learning. However, for real-life applications, it is very challenging to deploy efficient Transformers due to immense parameters and operations of models. To relieve this burden,…
Spatial joins are among the most time-consuming spatial queries, remaining costly even in parallel and distributed systems. In this paper, we explore hardware acceleration for spatial joins by proposing SwiftSpatial, an FPGA-based…
The customizability of RISC-V makes it an attractive choice for accelerating deep neural networks (DNNs). It can be achieved through instruction set extensions and corresponding custom functional units. Yet, efficiently exploiting these…
Neural Radiance Field (NeRF) has emerged as a promising 3D reconstruction method, delivering high-quality results for AR/VR applications. While quantization methods and hardware accelerators have been proposed to enhance NeRF's…
Confronted with the challenge of high performance for applications and the restriction of hardware resources for field-programmable gate arrays (FPGAs), partial dynamic reconfiguration (PDR) technology is anticipated to accelerate the…
Many applications are increasingly requiring numerical simulations for solving complex problems. Most of these numerical algorithms are massively parallel and often implemented on parallel high-performance computers. However, classic…
Real-time processing of data streams emanating from sensors is becoming a common task in Internet of Things scenarios. The key implementation goal consists in efficiently handling massive incoming data streams and supporting advanced data…
Attention-based large language models (LLMs) have transformed modern AI applications, but the quadratic cost of self-attention imposes significant compute and memory overhead. Dynamic sparsity (DS) attention mitigates this, yet its hardware…
Residual block is a very common component in recent state-of-the art CNNs such as EfficientNet or EfficientDet. Shortcut data accounts for nearly 40% of feature-maps access in ResNet152 [8]. Most of the previous DNN compilers, accelerators…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
DNN/Accelerator co-design has shown great potential in improving QoR and performance. Typical approaches separate the design flow into two-stage: (1) designing an application-specific DNN model with high accuracy; (2) building an…