Dedicated Accelerators for Robotic Applications

• Corki: Algorithm-Architecture Co-Design for Embodied AI-powered Robotic Manipulation
  Yiyang Huang¹, Yuhui Hao¹, Bo Yu, Feng Yan, Yuxin Yang, Feng Min, Yinhe Han, Lin Ma, Shaoshan Liu, Qiang Liu, Yiming Gan.
  52nd International Symposium on Computer Architecture (ISCA’2025)
  

• HEX-SIM: Evaluating Multi-modal Large Language Models on Multi-chiplet NPUs
  Xinquan Lin, Haobo Xu, Yinhe Han, and Yiming Gan(通讯).
  2024 IEEE International Symposium on Workload Characterization (IISWC’2024)
  Code

• ORIANNA: An Accelerator Generation Framework for Optimization-based Robotic Applications
  Yuhui Hao¹, Yiming Gan¹, Bo Yu, Qiang Liu, Yinhe Han, Zishen Wan, Shaoshan Liu.
  29th ACM International Conference on Architectural Support for Programming Languages and Operating Systems (ASPLOS)
  

• BLITZCRANK: Factor Graph Accelerator for Motion Planning
  Yuhui Hao¹, Yiming Gan¹, Bo Yu, Qiang Liu, Shaoshan Liu, Yuhao Zhu.
  60th Design Automation Conference (DAC)
  

• An Energy Efficient and Runtime Reconfigurable Accelerator for Robotic Localization
  Qiang liu, Yuhui Hao, Weizhuang Liu, Bo Yu, Yiming Gan, Jie Tang, Shao-Shan Liu, Yuhao Zhu.
  IEEE Transcations on Computers (IEEE TC)
  

• Crescent: Taming Memory Irregularities for Accelerating Deep Point Cloud Analytics
  Yu Feng, Gunnar Hammonds, Yiming Gan, Yuhao Zhu.
  49th International Symposium on Computer Architecture (ISCA’2022)
  

• Archytas: A Framework for Synthesizing and Dynamically Optimizing Accelerators for Robotic Navigation
  Weizhuang Liu, Bo Yu, Yiming Gan, Qiang Liu, Jie Tang, Shaoshan Liu, Yuhao Zhu.
  54th IEEE/ACM International Symposium on Microarchitecture (MICRO’2021)
  

• Eudoxus: Characterizing and Accelerating Localization in Autonomous Machines
  Yiming Gan , Bo Yu, Boyuan Tian, Leimeng Xu, Wei Hu, Shaoshan Liu, Qiang Liu, Yanjun Zhang, Jie Tang and Yuhao Zhu.
  27th IEEE International Symposium on High-Performance Computer Architecture (HPCA-27)
  

  
  

Robotic Applications and Algorithms

• KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systems
  Zixuan Wang, Bo Yu, Junzhe Zhao, Wenhao Sun, Sai Hou, Shuai Liang, Xing Hu, Yinhe Han, Yiming Gan(通讯).
  IEEE International Conference on Robotics and Automation (ICRA-2025)
  

• Benchmarking and Optimizing Federated Learning with Hardware-related Metrics
  Kai Pan, Yapeng Tian, Yinhe Han, and Yiming Gan(通讯).
  The Thirty Fifth British Machine Vision Conference (BMVC-35)
  

• Low-Latency Proactive Continuous Vision
  Yiming Gan, Yuxian Qiu, Lele Chen, Jingwen Leng, and Yuhao Zhu.
  29th International Conference on Parallel Architectures and Compilation Techniques (PACT’20) Best Paper Nomination
  

• TinyLSTMs: Efficient Neural Speech Enhancement for Hearing Aids
  Igor Fedorov, Marko Stamenovic, Carl Jensen, Li-Chia Yang, Ari Mandell, Yiming Gan , Matthew Mattina, Paul N. Whatmough.
  INTERSPEECH 2020

• SVSoC:Speculative Vision Systems-on-a-Chip
  Yiming Gan , Yuxian Qiu, Jingwen Leng, and Yuhao Zhu.
  In Computer Architecture Letters (CAL),2019
  

  
  

Reliability and Fault Tolerance

• KINDRED: Heterogeneous Split-Lock Architecture for Safe Autonomous Machines
  Yiming Gan, Jingwen Leng, Yu Bo, Yuhao Zhu.
  ACM Transactions on Architecture and Code Optimization (ACM TACO)
  

• The Vulnerability-Adaptive Protection Paradigm Toward Reliable Autonomous Machines
  Zishen Wan¹, Yiming Gan¹, Bo Yu, Shaoshan Liu, Arijit Raychowdhury, Yuhao Zhu
  Communications of the ACM (CACM), 2024
  

• VPP: The Vulnerability-Proportional Protection Paradigm Towards Reliable Autonomous Machines
  Zishen Wan¹, Yiming Gan¹, Bo Yu, Arijit Raychowdhury, Yuhao Zhu
  ISCA 2023 workshop, 5th Domain Specific System Architecture (DOSSA-5)
  

• Thales: Formulating and Estimating Architectural Vulnerability Factor for DNN Accelerators
  Abhishek Tyagi, Yiming Gan, Shaoshan Liu, Bo Yu, Paul Whatmough, Yuhao Zhu.
  29th IEEE International Symposium on High-Performance Computer Architecture (HPCA-29)
  

• BRAUM: Analyzing and Protecting Autonomous Machine Software Stack
  Yiming Gan, Paul Whatmough, Jingwen Leng, Bo Yu, Shaoshan Liu, Yuhao Zhu.
  33rd IEEE International Symposium on Software Reliability Engineering (ISSRE-22)
  

• Ptolemy: Architecture Support for Robust Deep Learning
  Yiming Gan¹ , Yuxian Qiu¹, Jingwen Leng, Minyi Guo, and Yuhao Zhu.
  53rd IEEE/ACM International Symposium on Microarchitecture (MICRO’2020)
  
  

Thesis

• Improving Fault Tolerance of Computing Systems for Autonomous Machines