{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T04:54:28Z","timestamp":1777524868474,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":71,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,4,27]],"date-time":"2024-04-27T00:00:00Z","timestamp":1714176000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U21B2031"],"award-info":[{"award-number":["U21B2031"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,4,27]]},"DOI":"10.1145\/3620665.3640379","type":"proceedings-article","created":{"date-parts":[[2024,4,22]],"date-time":"2024-04-22T14:18:06Z","timestamp":1713795486000},"page":"813-829","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":20,"title":["ORIANNA: An Accelerator Generation Framework for Optimization-based Robotic Applications"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1301-5271","authenticated-orcid":false,"given":"Yuhui","family":"Hao","sequence":"first","affiliation":[{"name":"Tianjin University, Tianjin, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2033-5057","authenticated-orcid":false,"given":"Yiming","family":"Gan","sequence":"additional","affiliation":[{"name":"ICT, Chinese Academy of Sciences, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0139-3622","authenticated-orcid":false,"given":"Bo","family":"Yu","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1375-0508","authenticated-orcid":false,"given":"Qiang","family":"Liu","sequence":"additional","affiliation":[{"name":"Tianjin University, Tianjin, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5113-8067","authenticated-orcid":false,"given":"Yinhe","family":"Han","sequence":"additional","affiliation":[{"name":"ICT, Chinese Academy of Sciences, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2982-5351","authenticated-orcid":false,"given":"Zishen","family":"Wan","sequence":"additional","affiliation":[{"name":"Georgia Tech, Atlanta, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5132-8351","authenticated-orcid":false,"given":"Shaoshan","family":"Liu","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China"}]}],"member":"320","published-online":{"date-parts":[[2024,4,27]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2021.106608"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2011.5983144"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18072.2020.9218550"},{"key":"e_1_3_2_1_4_1","volume-title":"A tutorial on SE(3) transformation parameterizations and on-manifold optimization. arXiv preprint arXiv:2103.15980","author":"Blanco-Claraco Jos\u00e9 Luis","year":"2021","unstructured":"Jos\u00e9 Luis Blanco-Claraco. A tutorial on SE(3) transformation parameterizations and on-manifold optimization. arXiv preprint arXiv:2103.15980, 2021."},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/FPL.2016.7577365"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"e_1_3_2_1_7_1","volume-title":"Numerical analysis. Cengage learning","author":"Burden Richard L","year":"2015","unstructured":"Richard L Burden, J Douglas Faires, and Annette M Burden. Numerical analysis. Cengage learning, 2015."},{"key":"e_1_3_2_1_8_1","volume-title":"Robotics and control: fundamental algorithms in MATLAB\u00ae","author":"Corke Peter","year":"2021","unstructured":"Peter Corke. Robotics and control: fundamental algorithms in MATLAB\u00ae, volume 141. Springer Nature, 2021."},{"key":"e_1_3_2_1_9_1","volume-title":"Factor graphs: Exploiting structure in robotics. Annual Review of Control, Robotics, and Autonomous Systems, 4:141--166","author":"Dellaert Frank","year":"2021","unstructured":"Frank Dellaert. Factor graphs: Exploiting structure in robotics. Annual Review of Control, Robotics, and Autonomous Systems, 4:141--166, 2021."},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1561\/2300000043"},{"key":"e_1_3_2_1_12_1","volume-title":"Lie groups for 2d and 3d transformations. URL http:\/\/ethaneade.com\/lie.pdf, revised Dec, 117:118","author":"Eade Ethan","year":"2013","unstructured":"Ethan Eade. Lie groups for 2d and 3d transformations. URL http:\/\/ethaneade.com\/lie.pdf, revised Dec, 117:118, 2013."},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-09538-7"},{"key":"e_1_3_2_1_14_1","volume-title":"Matrix theory","author":"Franklin Joel N","year":"2012","unstructured":"Joel N Franklin. Matrix theory. Courier Corporation, 2012."},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA51647.2021.00074"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-16-4939-4"},{"key":"e_1_3_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ASAP.2019.00-25"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3445814.3446721"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC56929.2023.10247780"},{"key":"e_1_3_2_1_20_1","volume-title":"Fglqr: Factor graph accelerator of lqr control for autonomous machines. arXiv preprint arXiv:2308.02768","author":"Hao Yuhui","year":"2023","unstructured":"Yuhui Hao, Bo Yu, Qiang Liu, and Shao-Shan Liu. Fglqr: Factor graph accelerator of lqr control for autonomous machines. arXiv preprint arXiv:2308.02768, 2023."},{"key":"e_1_3_2_1_21_1","first-page":"1","volume-title":"2022 IEEE\/ACM International Conference On Computer Aided Design (ICCAD)","author":"Hao Yuhui","year":"2022","unstructured":"Yuhui Hao, Bo Yu, Qiang Liu, Shaoshan Liu, and Yuhao Zhu. Factor graph accelerator for lidar-inertial odometry. In 2022 IEEE\/ACM International Conference On Computer Aided Design (ICCAD), pages 1--7, 2022."},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569326"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/VLSICircuits18222.2020.9162951"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO56248.2022.00033"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/18.910572"},{"key":"e_1_3_2_1_26_1","volume-title":"Mobile robot trajectory tracking using model predictive control","author":"K\u00fcnhe F","year":"2005","unstructured":"F K\u00fcnhe, J Gomes, and W Fetter. Mobile robot trajectory tracking using model predictive control. In II IEEE latin-american robotics symposium, volume 51, 2005."},{"key":"e_1_3_2_1_27_1","unstructured":"Georgia Tech Borg Lab. Gtsam. https:\/\/github.com\/borglab\/gtsam. Accessed: 2023-07-1."},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793566"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIST.2019.8836825"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2019.8662397"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/3195970.3196020"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC42615.2023.10067700"},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TC.2022.3230899"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TC.2020.2984611"},{"key":"e_1_3_2_1_35_1","first-page":"1","volume-title":"Proceedings of the 56th Annual Design Automation Conference 2019","author":"Liu Runze","year":"2019","unstructured":"Runze Liu, Jianlei Yang, Yiran Chen, and Weisheng Zhao. eslam: An energy-efficient accelerator for real-time orb-slam on fpga platform. In Proceedings of the 56th Annual Design Automation Conference 2019, pages 1--6, 2019."},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/3466752.3480077"},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS50048.2020.9275009"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803255"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.025"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918790369"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/ASAP.2019.000-4"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.004"},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO.2016.7783748"},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589104"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/3445814.3446746"},{"key":"e_1_3_2_1_47_1","unstructured":"Nvidia. cuBLAS. https:\/\/docs.nvidia.com\/cuda\/cublas\/index.html. Accessed: 2023-12-1."},{"key":"e_1_3_2_1_48_1","unstructured":"Nvidia. cuSOLVER. https:\/\/docs.nvidia.com\/cuda\/cusolver\/index.html. Accessed: 2023-12-1."},{"key":"e_1_3_2_1_49_1","volume-title":"TX1 datasheet","unstructured":"Nvidia. TX1 datasheet. http:\/\/images.nvidia.com\/content\/tegra\/embedded-systems\/pdf\/JTX1-Module-Product-sheet.pdf. Accessed: 2023-07-1."},{"issue":"6","key":"e_1_3_2_1_50_1","first-page":"137","article-title":"Industry 4.0: A review on industrial automation and robotic","volume":"78","author":"Othman Fauzi","year":"2016","unstructured":"Fauzi Othman, MA Bahrin, N Azli, et al. Industry 4.0: A review on industrial automation and robotic. J Teknol, 78(6-13):137--143, 2016.","journal-title":"J Teknol"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/AIC55036.2022.9848958"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA.2018.00047"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341176"},{"key":"e_1_3_2_1_55_1","volume-title":"A micro lie theory for state estimation in robotics. arXiv preprint arXiv:1812.01537","author":"Sola Joan","year":"2018","unstructured":"Joan Sola, Jeremie Deray, and Dinesh Atchuthan. A micro lie theory for state estimation in robotics. arXiv preprint arXiv:1812.01537, 2018."},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2018.2886342"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2988527"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842254"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000071"},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS54282.2022.9869951"},{"key":"e_1_3_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCAS.2021.3071609"},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS51828.2021.9458486"},{"key":"e_1_3_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA45697.2020.00032"},{"key":"e_1_3_2_1_64_1","unstructured":"Xilinx. Xilinx zynq-7000 soc zc706 evaluation kit. https:\/\/www.xilinx.com\/products\/boards-and-kits\/ek-z7-zc706-g.html. Accessed: 2023-07-1."},{"key":"e_1_3_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562000"},{"key":"e_1_3_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2010.5433907"},{"key":"e_1_3_2_1_67_1","first-page":"1","volume-title":"Robotics: Science and systems","author":"Zhang Ji","year":"2014","unstructured":"Ji Zhang and Sanjiv Singh. Loam: Lidar odometry and mapping in real-time. In Robotics: Science and systems, pages 1--9. Berkeley, CA, 2014."},{"key":"e_1_3_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jpdc.2017.01.028"},{"key":"e_1_3_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460672"},{"key":"e_1_3_2_1_70_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.028"},{"key":"e_1_3_2_1_71_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10845-021-01867-z"}],"event":{"name":"ASPLOS '24: 29th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 2","location":"La Jolla CA USA","acronym":"ASPLOS '24","sponsor":["SIGARCH ACM Special Interest Group on Computer Architecture","SIGOPS ACM Special Interest Group on Operating Systems","SIGPLAN ACM Special Interest Group on Programming Languages","SIGBED ACM Special Interest Group on Embedded Systems"]},"container-title":["Proceedings of the 29th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 2"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3620665.3640379","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3620665.3640379","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:03:41Z","timestamp":1750291421000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3620665.3640379"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,27]]},"references-count":71,"alternative-id":["10.1145\/3620665.3640379","10.1145\/3620665"],"URL":"https:\/\/doi.org\/10.1145\/3620665.3640379","relation":{},"subject":[],"published":{"date-parts":[[2024,4,27]]},"assertion":[{"value":"2024-04-27","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}