RTRBench: A Benchmark Suite for Real-Time Robotics
RTRBench: A Benchmark Suite for Real-Time Robotics
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DOI：
10.1109/ispass55109.2022.00024
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
Mohammad Bakhshalipour;M. Likhachev;Phillip B. Gibbons
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文献类型：
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作者：
Mohammad Bakhshalipour;M. Likhachev;Phillip B. Gibbons
“野外机器人”的出现引发了最近一波硬件和软件研究，以提高机器人的计算能力。然而，在这一领域的研究受到阻碍缺乏一个全面的基准套件。在本文中，我们提出RTRBench，机器人内核的基准套件。RTRBench包括16个内核，跨越了广泛的机器人的整个软件管道，所有内核都是用C++实现的，以实现快速执行。与套件一起，我们在架构级别对工作负载进行评估。我们查明了现代机器人处理器在执行机器人内核时效率低下的原因，沿着提出了改进的机会。基准测试套件的源代码可在https://cmu-roboarch.github.io/rtrbench/上获得。
The emergence of “robotics in the wild” has triggered a wave of recent research in hardware and software to boost robots’ compute capabilities. Nevertheless, research in this area is hindered by the lack of a comprehensive benchmark suite.In this paper, we present RTRBench, a benchmark suite for robotic kernels. RTRBench includes 16 kernels, spanning the entire software pipeline of a wide swath of robots, all implemented in C++ for fast execution.Together with the suite, we conduct an evaluation of the workloads at the architecture level. We pinpoint the sources of inefficiencies in a modern robotic processor when executing the robotic kernels, along with the opportunities for improvements.The source code of the benchmark suite is available in https://cmu-roboarch.github.io/rtrbench/.