Paper Info
Title
RTRBench: A Benchmark Suite for Real-Time Robotics
Abstract
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/.
Year
DOI
Venue
2022
10.1109/ISPASS55109.2022.00024
2022 IEEE International Symposium on Performance Analysis of Systems and Software (ISPASS)
Keywords
DocType
ISBN
Robotics,Benchmarking,Workload Characterization,Computer Architecture,Simulation
Conference
978-1-6654-5955-6
Citations 
PageRank 
References 
0
0.34
36
Authors
3
Name
Order
Citations
PageRank
Mohammad Bakhshalipour100.34
Maxim Likhachev22103157.03
Phillip B. Gibbons36863624.14