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When deploying neural networks in real-life situations, the size and computational effort are often the limiting factors. This is especially true in environments where big, expensive hardware is not affordable, like in embedded medical…

A large language model (LLM) is one of the most important emerging machine learning applications nowadays. However, due to its huge model size and runtime increase of the memory footprint, LLM inferences suffer from the lack of memory…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Neural networks (NNs) are growing in importance and complexity. A neural network's performance (and energy efficiency) can be bound either by computation or memory resources. The processing-in-memory (PIM) paradigm, where computation is…

Compute in-memory (CIM) is a promising technique that minimizes data transport, the primary performance bottleneck and energy cost of most data intensive applications. This has found wide-spread adoption in accelerating neural networks for…

As the relative power, performance, and area (PPA) impact of embedded memories continues to grow, proper parameterization of each of the thousands of memories on a chip is essential. When the parameters of all memories of a product are…

Training reinforcement learning (RL) policies for legged locomotion often requires extensive environment interactions, which are costly and time-consuming. We propose Symmetry-Guided Memory Augmentation (SGMA), a framework that improves…

In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…

A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…

Graph processing is typically considered to be a memory-bound rather than compute-bound problem. One common line of thought is that more available memory bandwidth corresponds to better graph processing performance. However, in this work we…

In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…

We present an optimization study of the Vision-Language Frontier Maps (VLFM) applied to the Object Goal Navigation task in robotics. Our work evaluates the efficiency and performance of various vision-language models, object detectors,…

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…

Spatial understanding is a fundamental cornerstone of human-level intelligence. Nonetheless, current research predominantly focuses on domain-specific data production, leaving a critical void: the absence of a principled, open-source engine…

LLMs now form the backbone of AI agents across a diverse range of applications, including tool use, command-line interfaces, and web or computer interaction. These agentic LLM inference tasks are fundamentally different from chatbot-focused…

This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

As AI workloads drive increasing memory requirements, domain-specific accelerators need higher-density on-chip memory beyond what current SRAM scaling trends can provide. Simultaneously, the vast amounts of short-lived data in these…

Spatio-temporal pattern recognition is a fundamental ability of the brain which is required for numerous real-world activities. Recent deep learning approaches have reached outstanding accuracies in such tasks, but their implementation on…

Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…