RoSÉ: A Hardware-Software Co-Simulation Infrastructure Enabling Pre-Silicon Full-Stack Robotics SoC Evaluation
RoSÉ: A Hardware-Software Co-Simulation Infrastructure Enabling Pre-Silicon Full-Stack Robotics SoC Evaluation
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DOI：
10.1145/3579371.3589099
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发表时间：
2023-06
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通讯作者：
Dima Nikiforov;Shengjun Chris Dong;Chengyi Zhang;Seah Kim;B. Nikolić;Y. Shao
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作者：
Dima Nikiforov;Shengjun Chris Dong;Chengyi Zhang;Seah Kim;B. Nikolić;Y. Shao
自主无人机（UAV）和自动驾驶汽车等机器人系统已广泛部署在许多场景中，并有可能彻底改变下一代计算。为了提高机器人平台的性能和能源效率，人们正在投入大量研究工作来开发硬件加速器，以应对机器人软件管道中形成瓶颈的工作负载。尽管特定领域加速器可以在隔离机器人基准测试中提供比通用处理器更高的效率，但数据移动和共享资源争用等系统级限制可能会显着影响可实现的端到端加速。此外，机器人系统的闭环特性（不同部署环境、软件堆栈和硬件架构之间存在紧密交互）进一步加剧了评估机器人 SoC 的难度。为了解决这一限制，我们开发了 RoSÉ，这是一种开源软硬件协同仿真基础设施，用于对机器人 SoC 进行全堆栈、流片前硬件在环评估，以及完整的软件堆栈和为支持机器人工作负载而创建的真实环境。 RoSÉ 捕获了硬件、算法和环境之间的复杂交互，为机器人系统的软硬件协同设计提供了新的架构研究方向。
Robotic systems, such as autonomous unmanned aerial vehicles (UAVs) and self-driving cars, have been widely deployed in many scenarios and have the potential to revolutionize the future generation of computing. To improve the performance and energy efficiency of robotic platforms, significant research efforts are being devoted to developing hardware accelerators for workloads that form bottlenecks in the robotics software pipeline. Although domain-specific accelerators can offer improved efficiency over general-purpose processors on isolated robotics benchmarks, system-level constraints such as data movement and contention over shared resources can significantly impact the achievable end-to-end acceleration. In addition, the closed-loop nature of robotic systems, where there is a tight interaction across different deployed environments, software stacks, and hardware architecture, further exacerbates the difficulties of evaluating robotics SoCs. To address this limitation, we develop RoSÉ, an open-source, hardware-software co-simulation infrastructure for full-stack, pre-silicon hardware-in-the-loop evaluation of robotics SoCs, together with the full software stack and realistic environments created to support robotics workloads. RoSÉ captures the complex interactions across hardware, algorithm, and environment, enabling new architectural research directions in hardware-software co-design for robotic systems.