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<!DOCTYPE HTML>
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<span class="symbol"><img src="images/urseal.svg" alt="" /></span><span class="head">Horizon Lab @ URCS</span>
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<h1 class="title">Robotic Computing</h1>
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<p>Robotic computing has reached a tipping point. A myriad of autonomous machines such as drones, logistic robots, and self-driving cars are on the cusp of becoming an integral part of our everyday life. The continuous proliferation of autonomous machines, however, depends critically on an efficient computing substrate, driven by higher performance requirements and the miniaturization of machine form factors.</p>
<p>We explore computing systems and architectures for autonomous machines from ground up while targeting both efficiency and safety. A central theme of our work is that the software stack must be developed hand in hand with the architectural substrate. In particular, software and hardware should present predictable (not necessarily deterministic) abstractions to each other. Predictability enables strong resource/timing/energy guarantees, which in turn reduces system variability and paves the way for deploying autonomous machines in mission-critical environment.</p>
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<h2 class="courses">Recent Publications</h2>
<h3><span class="em">Point Cloud</span></h3>
<div class="smallbmargin">
[<span class="confname">ISCA 2022</span>] <a class="paperlink" href="pubs/isca22.pdf">Crescent: Taming Memory Irregularities for Accelerating Deep Point Cloud Analytics</a><br>
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[<span class="confname">PPoPP 2022</span>] <a class="paperlink" href="pubs/ppopp22.pdf">RTNN: Accelerating Neighbor Search Using Hardware Ray Tracing</a><br>
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[<span class="confname">MICRO 2020</span>] <a class="paperlink" href="pubs/micro20-mesorasi.pdf">Mesorasi: Architecture Support for Point Cloud Analytics via Delayed-Aggregation</a><br>
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[<span class="confname">IROS 2020</span>] <a class="paperlink" href="pubs/iros20.pdf">Real-Time Spatio-Temporal LiDAR Point Cloud Compression</a><br>
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[<span class="confname">MICRO 2019</span>] <a class="paperlink" href="pubs/micro19-tigris.pdf">Tigris: Architecture and Algorithms for 3D Perception in Point Clouds</a><br>
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<hr>
<h3><span class="em">Architectural & Systems Support</span></h3>
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[<span class="confname">ISCA 2023</span>] <a class="paperlink" href="pubs/isca23-imagen.pdf">ImaGen: A General Framework for Generating Memory- and Power-Efficient Image Processing Accelerators</a><br>
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[<span class="confname">DAC 2023</span>] <a class="paperlink" href="pubs/dac23.pdf">BLITZCRANK: Factor Graph Accelerator for Motion Planning</a><br>
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[<span class="confname">ICCAD 2022</span>] <a class="paperlink" href="pubs/iccad22.pdf">Factor Graph Accelerator for LiDAR-Inertial Odometry</a><br>
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[<span class="confname">IEEE Wireless Comm. 2022</span>] <a class="paperlink" href="https://ieeexplore.ieee.org/document/9770087">Communication Challenges in Infrastructure-Vehicle Cooperative Autonomous Driving: A Field Deployment Perspective</a><br>
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[<span class="confname">MICRO 2021</span>] <a class="paperlink" href="pubs/micro21.pdf">Archytas: A Framework for Synthesizing and Dynamically Optimizing Accelerators for Robotic Localization</a><br>
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[<span class="confname">HPCA 2021</span>] <a class="paperlink" href="pubs/hpca21.pdf">Eudoxus: Characterizing and Accelerating Localization in Autonomous Machines</a><br>
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[<span class="confname">RTAS 2021</span>] <a class="paperlink" href="https://arxiv.org/pdf/2103.16045.pdf">Brief Industry Paper: The Matter of Time — A General and Efficient System for Precise Sensor Synchronization in Robotic Computing</a><br>
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[<span class="confname">IEEE CAS-M 2021</span>] <a class="paperlink" href="https://arxiv.org/pdf/2009.06034.pdf">A Survey of FPGA-Based Robotic Computing</a><br>
</div>
<div class="smallbmargin">
[<span class="confname">MICRO 2020</span>] <a class="paperlink" href="pubs/micro20-amv.pdf">Building the Computing System for Autonomous Micromobility Vehicles: Design Constraints and Architectural Optimizations</a><br>
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<hr>
<h3><span class="em">Robustness and Reliability</span></h3>
<div class="smallbmargin">
[<span class="confname">CACM 2024</span>] <a class="paperlink" href="https://dl.acm.org/doi/pdf/10.1145/3647638">The Vulnerability-Adaptive Protection Paradigm Toward Reliable Autonomous Machines</a><br>
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<div class="smallbmargin">
[<span class="confname">ISPASS 2024</span>] <a class="paperlink" href="pubs/ispass24.pdf">Characterizing Soft-Error Resiliency in Arm's Ethos-U55 Embedded Machine Learning Accelerator</a><br>
</div>
<div class="smallbmargin">
[<span class="confname">HPCA 2023</span>] <a class="paperlink" href="pubs/hpca23.pdf">Thales: Formulating and Estimating Architectural Vulnerability Factors for DNN Accelerators</a><br>
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<div class="smallbmargin">
[<span class="confname">ISSRE 2022</span>] <a class="paperlink" href="pubs/issre22.pdf">BRAUM: Analyzing and Protecting Autonomous Machine Software Stack</a><br>
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<div class="smallbmargin">
[<span class="confname">MICRO 2020</span>] <a class="paperlink" href="pubs/micro20-ptolemy.pdf">Ptolemy: Architecture Support for Robust Deep Learning</a><br>
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<div class="smallbmargin">
[<span class="confname">CVPR 2019</span>] <a class="paperlink" href="https://openaccess.thecvf.com/content_CVPR_2019/papers/Qiu_Adversarial_Defense_Through_Network_Profiling_Based_Path_Extraction_CVPR_2019_paper.pdf">Adversarial Defense Through Network Profiling Based Path Extraction</a><br>
</div>
<div class="smallbmargin">
[<span class="confname">IEEE Micro 2017</span>] <a class="paperlink" href="pubs/ieeemicro17.pdf">Cognitive Computing Safety: The New Horizon for Reliability</a><br>
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