VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
Yu-Shun Hsiao,Siva Kumar Sastry Hari,Balakumar Sundaralingam,Jason Yik,Thierry Tambe,Charbel Sakr,Stephen W. Keckler,Vijay Janapa Reddi,Yu-Shun Hsiao,Siva Kumar Sastry Hari,Balakumar Sundaralingam,Jason Yik,Thierry Tambe,Charbel Sakr,Stephen W. Keckler,Vijay Janapa Reddi
High-dimensional motion generation requires nu-merical precision for smooth, collision-free solutions. Typically, double-precision or single-precision floating-point (FP) formats are utilized. Using these for big tensors imposes a strain on the memory bandwidth provided by the devices and alters the memory footprint, hence limiting their applicability to low-power edge devices needed for mobile ro...
