We present RoboShape, an accelerator framework that leverages two topology-based computational patterns that scale with robot size: (1) topology traversals, and (2) large topology-based matrices. Using these patterns and building on prior work, we expose opportunities to directly use robot topology to inform architectural mechanisms including task scheduling and allocation, data placement, block matrix operations, and sparse I/O data. For the topologically-diverse iiwa manipulator, HyQ quadruped, and Baxter torso robots, RoboShape accelerators on an FPGA provide a 4.0x to 4.4x speedup in compute latency over CPU and a 8.0x to 15.1x speedup over GPU for the dynamics gradients, a key bottleneck preventing online execution of nonlinear optimal motion control for legged robots. Taking a broader view, for topology-based applications, RoboShape enables analysis of performance and resource utilization tradeoffs that will be critical to managing resources across accelerators in future full robotics domain-specific SoCs.

Deep reinforcement learning (DRL) is one of the most powerful tools for synthesizing complex robotic behaviors. But training DRL models is incredibly compute and memory intensive, requiring large training datasets and replay buffers to achieve performant results. This poses a challenge for the next generation of field robots that will need to learn on the edge to adapt to their environment. In this paper, we begin to address this issue through observation space quantization. We evaluate our approach using four simulated robot locomotion tasks and two state-of-the-art DRL algorithms, the on-policy Proximal Policy Optimization (PPO) and off-policy Soft Actor-Critic (SAC) and find that observation space quantization reduces overall memory costs by as much as 4.2x without impacting learning performance.

We introduce and release GRiD, an open-source, GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate nonlinear trajectory optimization through optimized code generation, GRiD provides as much as a 7.2x speedup over a state-of-the-art, multi-threaded CPU implementation and maintains as much as a 2.5x speedup when accounting for I/O overhead.

We introduce robomorphic computing; a methodology to transform robot morphology into a customized hardware accelerator morphology. In this work, we (i) present this design methodology; (ii) use the methodology to generate a parameterized accelerator design for the gradient of rigid body dynamics; (iii) evaluate FPGA and synthesized ASIC implementations; and (iv) describe how the design can be automatically customized for other robot models. Our FPGA accelerator achieves speedups of 8x and 86x over CPU and GPU latency, and maintains an overall speedup of 1.9x to 2.9x deployed in an end-to-end coprocessor system. ASIC synthesis indicates an additional factor of 7.2x.

In this paper, we detail the designs of three faster than state-of-the-art implementations of the gradient of rigid body dynamics on a CPU, GPU, and FPGA. Our optimized FPGA and GPU implementations provide as much as a 3.0x end-to-end speedup over our optimized CPU implementation by refactoring the algorithm to exploit its computational features, e.g., parallelism at different granularities.

In this extended abstract we extend our previous work by using our Parallel DDP implementation for MPC on a physical Kuka arm. We demonstrated the feasibility of this approach in the presence of model discrepancies and communication delays between the robot and GPU and found that higher control rates generally lead to better tracking performance across a range of parallelization options.