{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T05:36:51Z","timestamp":1769751411204,"version":"3.49.0"},"publisher-location":"New York, NY, USA","reference-count":76,"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:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Semiconductor Research Corporation"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,4,27]]},"DOI":"10.1145\/3620665.3640420","type":"proceedings-article","created":{"date-parts":[[2024,4,22]],"date-time":"2024-04-22T14:18:06Z","timestamp":1713795486000},"page":"746-762","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["MulBERRY: Enabling Bit-Error Robustness for Energy-Efficient Multi-Agent Autonomous Systems"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2982-5351","authenticated-orcid":false,"given":"Zishen","family":"Wan","sequence":"first","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5672-795X","authenticated-orcid":false,"given":"Nandhini","family":"Chandramoorthy","sequence":"additional","affiliation":[{"name":"IBM Research, Yorktown Heights, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4799-7587","authenticated-orcid":false,"given":"Karthik","family":"Swaminathan","sequence":"additional","affiliation":[{"name":"IBM Research, Yorktown Heights, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1039-8369","authenticated-orcid":false,"given":"Pin-Yu","family":"Chen","sequence":"additional","affiliation":[{"name":"IBM Research, Yorktown Heights, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7076-9251","authenticated-orcid":false,"given":"Kshitij","family":"Bhardwaj","sequence":"additional","affiliation":[{"name":"Lawrence Livermore National Lab, Livermore, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5259-7721","authenticated-orcid":false,"given":"Vijay Janapa","family":"Reddi","sequence":"additional","affiliation":[{"name":"Harvard University, Cambridge, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8391-0576","authenticated-orcid":false,"given":"Arijit","family":"Raychowdhury","sequence":"additional","affiliation":[{"name":"Georgia Tech, Atlanta, USA"}]}],"member":"320","published-online":{"date-parts":[[2024,4,27]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561284"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2971172"},{"key":"e_1_3_2_1_3_1","volume-title":"Multi-task federated reinforcement learning with adversaries. arXiv preprint arXiv:2103.06473","author":"Anwar Aqeel","year":"2021","unstructured":"Aqeel Anwar and Arijit Raychowdhury. 2021. Multi-task federated reinforcement learning with adversaries. arXiv preprint arXiv:2103.06473 (2021)."},{"key":"e_1_3_2_1_4_1","volume-title":"Tech. Rep. UCB\/EECS-2016-17 4","author":"Asanovic Krste","year":"2016","unstructured":"Krste Asanovic, Rimas Avizienis, Jonathan Bachrach, Scott Beamer, David Biancolin, Christopher Celio, Henry Cook, Daniel Dabbelt, John Hauser, Adam Izraelevitz, et al. 2016. The rocket chip generator. EECS Department, University of California, Berkeley, Tech. Rep. UCB\/EECS-2016-17 4 (2016)."},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18072.2020.9218550"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSN.2018.00066"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/HOTCHIPS.2019.8875645"},{"key":"e_1_3_2_1_8_1","unstructured":"Bitcraze. 2023. Crazyflie 2.1. https:\/\/www.bitcraze.io\/products\/crazyflie-2-1\/."},{"key":"e_1_3_2_1_9_1","volume-title":"Mavbench: Micro aerial vehicle benchmarking. In 2018 51st annual IEEE\/ACM international symposium on microarchitecture (MICRO)","author":"Boroujerdian Behzad","year":"2018","unstructured":"Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan, Wenzhi Cui, Aleksandra Faust, and Vijay Reddi. 2018. Mavbench: Micro aerial vehicle benchmarking. In 2018 51st annual IEEE\/ACM international symposium on microarchitecture (MICRO). IEEE, 894--907."},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18074.2021.9586280"},{"key":"e_1_3_2_1_11_1","unstructured":"Cadence. 2023. Genus Synthesis Solution. https:\/\/www.cadence.com\/en_US\/home\/tools\/digital-design-and-signoff\/synthesis\/genus-synthesis-solution.html."},{"key":"e_1_3_2_1_12_1","unstructured":"Cadence. 2023. Innovus Implementation System. https:\/\/www.cadence.com\/en_US\/home\/tools\/digital-design-and-signoff\/soc-implementation-and-floorplanning\/innovus-implementation-system.html."},{"key":"e_1_3_2_1_13_1","unstructured":"Cadence. 2023. Joules RTL Power Solution. https:\/\/www.cadence.com\/en_US\/home\/tools\/digital-design-and-signoff\/power-analysis\/joules-rtl-power-solution.html."},{"key":"e_1_3_2_1_14_1","unstructured":"Celsiainc. 2023. Heat Sink Size Calculator. https:\/\/celsiainc.com\/resources\/calculators\/heat-sink-size-calculator\/."},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA.2019.00034"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC42615.2023.10067544"},{"key":"e_1_3_2_1_17_1","unstructured":"Timothy H. Chung (DARPA). [n. d.]. OFFensive Swarm-Enabled Tactics (OFFSET)."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3373376.3378473"},{"key":"e_1_3_2_1_19_1","unstructured":"DJI. 2023. DJI Ryze Tech Tello Quadcopter. https:\/\/www.ryzerobotics.com\/tello."},{"key":"e_1_3_2_1_20_1","unstructured":"DJI. 2023. DJI Spark Specs. https:\/\/www.dji.com\/spark\/info."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561590"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636217"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA51647.2021.00074"},{"key":"e_1_3_2_1_24_1","volume-title":"Proceedings of the 54th Annual Design Automation Conference (DAC)","author":"Ganapathy Shrikanth","year":"2017","unstructured":"Shrikanth Ganapathy, John Kalamatianos, Keith Kasprak, and Steven Raasch. 2017. On characterizing near-threshold SRAM failures in Fin-FET technology. In Proceedings of the 54th Annual Design Automation Conference (DAC) 2017. 1--6."},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS51828.2021.9458401"},{"key":"e_1_3_2_1_26_1","volume-title":"Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 1--6.","author":"Hsiao Yu-Shun","year":"2023","unstructured":"Yu-Shun Hsiao, Zishen Wan, Tianyu Jia, Radhika Ghosal, Abdulrahman Mahmoud, Arijit Raychowdhury, David Brooks, Gu-Yeon Wei, and Vijay Janapa Reddi. 2023. Mavfi: An end-to-end fault analysis framework with anomaly detection and recovery for micro aerial vehicles. In 2023 Design, Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 1--6."},{"key":"e_1_3_2_1_27_1","volume-title":"Silent Data Corruption in Robot Operating System: A Case for End-to-End System-Level Fault Analysis Using Autonomous UAVs","author":"Hsiao Yu-Shun","year":"2023","unstructured":"Yu-Shun Hsiao, Zishen Wan, Tianyu Jia, Radhika Ghosal, Abdulrahman Mahmoud, Arijit Raychowdhury, David Brooks, Gu-Yeon Wei, and Vijay Janapa Reddi. 2023. Silent Data Corruption in Robot Operating System: A Case for End-to-End System-Level Fault Analysis Using Autonomous UAVs. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (2023)."},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSN53405.2022.00021"},{"key":"e_1_3_2_1_29_1","volume-title":"IEEE International Workshop on Automotive Reliability Test.","author":"Jha Saurabh","year":"2018","unstructured":"Saurabh Jha, Timothy Tsai, Siva Hari, Michael Sullivan, Zbigniew Kalbarczyk, Stephen Keckler, and Ravishankar Iyer. 2018. Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors. In IEEE International Workshop on Automotive Reliability Test."},{"key":"e_1_3_2_1_30_1","volume-title":"Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 1--6.","author":"Kim Sung","year":"2018","unstructured":"Sung Kim, Patrick Howe, Thierry Moreau, Armin Alaghi, Luis Ceze, and Visvesh Sathe. 2018. MATIC: Learning around errors for efficient low-voltage neural network accelerators. In 2018 Design, Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 1--6."},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/3352460.3358280"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3352460.3358280"},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10994-021-06006-6"},{"key":"e_1_3_2_1_34_1","volume-title":"Autosoc: Automating algorithm-soc co-design for aerial robots. arXiv preprint arXiv:2109.05683","author":"Krishnan Srivatsan","year":"2021","unstructured":"Srivatsan Krishnan, Thierry Tambe, Zishen Wan, and Vijay Janapa Reddi. 2021. Autosoc: Automating algorithm-soc co-design for aerial robots. arXiv preprint arXiv:2109.05683 (2021)."},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISPASS55109.2022.00023"},{"key":"e_1_3_2_1_36_1","volume-title":"Automatic Domain-Specific SoC Design for Autonomous Unmanned Aerial Vehicles. In 2022 55th IEEE\/ACM International Symposium on Microarchitecture (MICRO). IEEE, 300--317","author":"Krishnan Srivatsan","year":"2022","unstructured":"Srivatsan Krishnan, Zishen Wan, Kshitij Bhardwaj, Paul Whatmough, Aleksandra Faust, Sabrina Neuman, Gu-Yeon Wei, David Brooks, and Vijay Janapa Reddi. 2022. Automatic Domain-Specific SoC Design for Autonomous Unmanned Aerial Vehicles. In 2022 55th IEEE\/ACM International Symposium on Microarchitecture (MICRO). IEEE, 300--317."},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/LCA.2020.2981022"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISQED.2009.4810392"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3126908.3126964"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2019.8662397"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/CICC53496.2022.9772870"},{"key":"e_1_3_2_1_42_1","volume-title":"Robotic computing on fpgas","author":"Liu Shaoshan","unstructured":"Shaoshan Liu, Zishen Wan, Bo Yu, and Yu Wang. 2021. Robotic computing on fpgas. Springer."},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3466752.3480077"},{"key":"e_1_3_2_1_44_1","volume-title":"Trusted AI in multi-agent systems: An overview of privacy and security for distributed learning. arXiv preprint arXiv:2202.09027","author":"Ma Chuan","year":"2022","unstructured":"Chuan Ma, Jun Li, Kang Wei, Bo Liu, Ming Ding, Long Yuan, Zhu Han, and H Vincent Poor. 2022. Trusted AI in multi-agent systems: An overview of privacy and security for distributed learning. arXiv preprint arXiv:2202.09027 (2022)."},{"key":"e_1_3_2_1_45_1","volume-title":"Prateek Nagras, Gaurav Vikhe, et al.","author":"Mayoral-Vilches V\u00edctor","year":"2023","unstructured":"V\u00edctor Mayoral-Vilches, Jason Jabbour, Yu-Shun Hsiao, Zishen Wan, Alejandra Mart\u00ednez-Fari\u00f1a, Martino Crespo-Alvarez, Matthew Stewart, Juan Manuel Reina-Munoz, Prateek Nagras, Gaurav Vikhe, et al. 2023. RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance. arXiv preprint arXiv:2309.09212 (2023)."},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO.2016.7783748"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589104"},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/3445814.3446746"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS54282.2022.9870000"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589099"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2917066"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/3470496.3527407"},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1145\/2490301.2451135"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA.2012.6169031"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3195970.3195997"},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1145\/3007787.3001165"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA.2018.00047"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589092"},{"key":"e_1_3_2_1_59_1","volume-title":"Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 151--156","author":"Srinivasan Gopalakrishnan","year":"2016","unstructured":"Gopalakrishnan Srinivasan, Parami Wijesinghe, Syed Shakib Sarwar, Akhilesh Jaiswal, and Kaushik Roy. 2016. Significance driven hybrid 8T-6T SRAM for energy-efficient synaptic storage in artificial neural networks. In 2016 Design, Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 151--156."},{"key":"e_1_3_2_1_60_1","first-page":"569","article-title":"Bit error robustness for energy-efficient dnn accelerators","volume":"3","author":"Stutz David","year":"2021","unstructured":"David Stutz, Nandhini Chandramoorthy, Matthias Hein, and Bernt Schiele. 2021. Bit error robustness for energy-efficient dnn accelerators. Proceedings of Machine Learning and Systems (MLSys) 3 (2021), 569--598.","journal-title":"Proceedings of Machine Learning and Systems (MLSys)"},{"key":"e_1_3_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2018.2886342"},{"key":"e_1_3_2_1_62_1","unstructured":"Verilator. 2023. Verilator. https:\/\/www.veripool.org\/verilator."},{"key":"e_1_3_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18074.2021.9586116"},{"key":"e_1_3_2_1_64_1","volume-title":"Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 430--435","author":"Wan Zishen","year":"2022","unstructured":"Zishen Wan, Aqeel Anwar, Abdulrahman Mahmoud, Tianyu Jia, Yu-Shun Hsiao, Vijay Janapa Reddi, and Arijit Raychowdhury. 2022. Frl-fi: Transient fault analysis for federated reinforcement learning-based navigation systems. In 2022 Design, Automation & Test in Europe Conference & Exhibition (DATE). IEEE, 430--435."},{"key":"e_1_3_2_1_65_1","volume-title":"BERRY: Bit Error Robustness for Energy-Efficient Reinforcement Learning-Based Autonomous Systems. In 2023 60th ACM\/IEEE Design Automation Conference (DAC). IEEE, 1--6.","author":"Wan Zishen","year":"2023","unstructured":"Zishen Wan, Nandhini Chandramoorthy, Karthik Swaminathan, Pin-Yu Chen, Vijay Janapa Reddi, and Arijit Raychowdhury. 2023. BERRY: Bit Error Robustness for Energy-Efficient Reinforcement Learning-Based Autonomous Systems. In 2023 60th ACM\/IEEE Design Automation Conference (DAC). IEEE, 1--6."},{"key":"e_1_3_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS54282.2022.9869951"},{"key":"e_1_3_2_1_67_1","volume-title":"2022 27th Asia and South Pacific Design Automation Conference (ASP-DAC). IEEE, 275--280","author":"Wan Zishen","year":"2022","unstructured":"Zishen Wan, Ashwin Sanjay Lele, and Arijit Raychowdhury. 2022. Circuit and system technologies for energy-efficient edge robotics. In 2022 27th Asia and South Pacific Design Automation Conference (ASP-DAC). IEEE, 275--280."},{"key":"e_1_3_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1145\/3508352.3561111"},{"key":"e_1_3_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCAS.2021.3071609"},{"key":"e_1_3_2_1_70_1","volume-title":"19th USENIX Symposium on Networked Systems Design and Implementation (NSDI). 977--993","author":"Xu Jingao","year":"2022","unstructured":"Jingao Xu, Hao Cao, Zheng Yang, Longfei Shangguan, Jialin Zhang, Xiaowu He, and Yunhao Liu. 2022. SwarmMap: Scaling up real-time collaborative visual SLAM at the edge. In 19th USENIX Symposium on Networked Systems Design and Implementation (NSDI). 977--993."},{"key":"e_1_3_2_1_71_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISQED.2017.7918284"},{"key":"e_1_3_2_1_72_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO50266.2020.00089"},{"key":"e_1_3_2_1_73_1","volume-title":"Thinh T Doan, Arijit Raychowdhury, and Justin Romberg.","author":"Zeng Sihan","year":"2021","unstructured":"Sihan Zeng, Malik Aqeel Anwar, Thinh T Doan, Arijit Raychowdhury, and Justin Romberg. 2021. A decentralized policy gradient approach to multi-task reinforcement learning. In Uncertainty in Artificial Intelligence (UAI). PMLR, 1002--1012."},{"key":"e_1_3_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1145\/3195970.3196129"},{"key":"e_1_3_2_1_75_1","doi-asserted-by":"publisher","DOI":"10.1145\/3316781.3323472"},{"key":"e_1_3_2_1_76_1","volume-title":"Validation, acceleration and extension","author":"Zhang Runjie","year":"2015","unstructured":"Runjie Zhang, Mircea R Stan, and Kevin Skadron. 2015. Hotspot 6.0: Validation, acceleration and extension. University of Virginia, Tech. Rep (2015)."}],"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\/3620665.3640420","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3620665.3640420","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:03:42Z","timestamp":1750291422000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3620665.3640420"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,27]]},"references-count":76,"alternative-id":["10.1145\/3620665.3640420","10.1145\/3620665"],"URL":"https:\/\/doi.org\/10.1145\/3620665.3640420","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"}}]}}