{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,9]],"date-time":"2026-06-09T08:44:21Z","timestamp":1780994661119,"version":"3.54.1"},"publisher-location":"New York, NY, USA","reference-count":47,"publisher":"ACM","license":[{"start":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T00:00:00Z","timestamp":1750377600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000028","name":"Semiconductor Research Corporation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000028","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,6,21]]},"DOI":"10.1145\/3695053.3731097","type":"proceedings-article","created":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T16:43:11Z","timestamp":1750437791000},"page":"313-326","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["HiPER: Hierarchically-Composed Processing for Efficient Robot Learning-Based Control"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5172-2770","authenticated-orcid":false,"given":"Justin","family":"Ting","sequence":"first","affiliation":[{"name":"University of Michigan, Ann Arbor, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4506-7930","authenticated-orcid":false,"given":"Minsik","family":"Kim","sequence":"additional","affiliation":[{"name":"University of Michigan, Ann Arbor, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4296-1358","authenticated-orcid":false,"given":"Junkang","family":"Zhu","sequence":"additional","affiliation":[{"name":"University of Michigan, Ann Arbor, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1119-8337","authenticated-orcid":false,"given":"Haotian","family":"Sheng","sequence":"additional","affiliation":[{"name":"University of Michigan, Ann Arbor, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5963-9018","authenticated-orcid":false,"given":"Zhengya","family":"Zhang","sequence":"additional","affiliation":[{"name":"University of Michigan, Ann Arbor, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2025,6,20]]},"reference":[{"key":"e_1_3_3_1_2_2","doi-asserted-by":"crossref","unstructured":"Anoushka Alavilli Khai Nguyen Sam Schoedel Brian Plancher and Zachary Manchester. 2023. TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. https:\/\/arxiv.org\/abs\/2310.16985v1.","DOI":"10.1109\/ICRA57147.2024.10610987"},{"key":"e_1_3_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2018.8310215"},{"key":"e_1_3_3_1_4_2","unstructured":"Elena Arcari Maria\u00a0Vittoria Minniti Anna Scampicchio Andrea Carron Farbod Farshidian Marco Hutter and Melanie\u00a0N. Zeilinger. 2023. Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. arxiv:https:\/\/arXiv.org\/abs\/2211.10270\u00a0[cs.RO] https:\/\/arxiv.org\/abs\/2211.10270"},{"key":"e_1_3_3_1_5_2","doi-asserted-by":"publisher","unstructured":"Dylan\u00a0M. Asmar Ransalu Senanayake Shawn Manuel and Mykel\u00a0J. Kochenderfer. 2023. Model Predictive Optimized Path Integral Strategies. 10.48550\/arXiv.2203.16633 arxiv:https:\/\/arXiv.org\/abs\/2203.16633\u00a0[cs eess]","DOI":"10.48550\/arXiv.2203.16633"},{"key":"e_1_3_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160929"},{"key":"e_1_3_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/MMAR58394.2023.10242548"},{"key":"e_1_3_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611249"},{"key":"e_1_3_3_1_9_2","doi-asserted-by":"publisher","unstructured":"Behzad Boroujerdian Hasan Genc Srivatsan Krishnan Wenzhi Cui Aleksandra Faust and Vijay\u00a0Janapa Reddi. 2019. MAVBench: Micro Aerial Vehicle Benchmarking. 10.48550\/arXiv.1905.06388 arxiv:https:\/\/arXiv.org\/abs\/1905.06388\u00a0[cs]","DOI":"10.48550\/arXiv.1905.06388"},{"key":"e_1_3_3_1_10_2","unstructured":"Laurent Dinh Jascha Sohl-Dickstein and Samy Bengio. 2017. Density estimation using Real NVP. arxiv:https:\/\/arXiv.org\/abs\/1605.08803\u00a0[cs.LG]"},{"key":"e_1_3_3_1_11_2","doi-asserted-by":"crossref","unstructured":"Thai\u00a0P. Duong Abdullah Altawaitan Jason Stanley and Nikolay Atanasov. 2024. Port-Hamiltonian Neural ODE Networks on Lie Groups for Robot Dynamics Learning and Control. IEEE Transactions on Robotics 40 (2024) 3695\u20133715. https:\/\/api.semanticscholar.org\/CorpusID:267034909","DOI":"10.1109\/TRO.2024.3428433"},{"key":"e_1_3_3_1_12_2","doi-asserted-by":"publisher","unstructured":"Venkatraman Govindaraju Chen-Han Ho Tony Nowatzki Jatin Chhugani Nadathur Satish Karthikeyan Sankaralingam and Changkyu Kim. 2012. DySER: Unifying Functionality and Parallelism Specialization for Energy-Efficient Computing. IEEE Micro 32 5 (2012) 38\u201351. 10.1109\/MM.2012.51","DOI":"10.1109\/MM.2012.51"},{"key":"e_1_3_3_1_13_2","unstructured":"Muhammad Kazim JunGee Hong Min-Gyeom Kim and Kwang-Ki\u00a0K. Kim. 2023. Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives. ArXiv abs\/2309.12566 (2023). https:\/\/api.semanticscholar.org\/CorpusID:262217392"},{"key":"e_1_3_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1145\/3302504.3311798"},{"key":"e_1_3_3_1_15_2","series-title":"Proceedings of Machine Learning Research","first-page":"1278","volume-title":"Proceedings of the 2020 Conference on Robot Learning","volume":"155","author":"Lambert Alexander","year":"2021","unstructured":"Alexander Lambert, Fabio Ramos, Byron Boots, Dieter Fox, and Adam Fishman. 2021. Stein Variational Model Predictive Control. In Proceedings of the 2020 Conference on Robot Learning(Proceedings of Machine Learning Research, Vol.\u00a0155), Jens Kober, Fabio Ramos, and Claire Tomlin (Eds.). PMLR, 1278\u20131297. https:\/\/proceedings.mlr.press\/v155\/lambert21a.html"},{"key":"e_1_3_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1145\/3365365.3383469"},{"key":"e_1_3_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2019.8662397"},{"key":"e_1_3_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC42615.2023.10067700"},{"key":"e_1_3_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1145\/3466752.3480077"},{"key":"e_1_3_3_1_20_2","doi-asserted-by":"publisher","unstructured":"Tobia Marcucci and Russ Tedrake. 2021. Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems. IEEE Trans. Automat. Control 66 6 (2021) 2433\u20132448. 10.1109\/TAC.2020.3007688","DOI":"10.1109\/TAC.2020.3007688"},{"key":"e_1_3_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982082"},{"key":"e_1_3_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.23919\/ACC53348.2022.9867643"},{"key":"e_1_3_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589104"},{"key":"e_1_3_3_1_24_2","doi-asserted-by":"crossref","unstructured":"Sabrina\u00a0M. Neuman Brian Plancher Thomas Bourgeat Thierry Tambe Srinivas Devadas and Vijay\u00a0Janapa Reddi. 2021. Robomorphic computing: a design methodology for domain-specific accelerators parameterized by robot morphology. Proceedings of the 26th ACM International Conference on Architectural Support for Programming Languages and Operating Systems (2021). https:\/\/api.semanticscholar.org\/CorpusID:232167086","DOI":"10.1145\/3445814.3446746"},{"key":"e_1_3_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/AICAS54282.2022.9870000"},{"key":"e_1_3_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610987"},{"key":"e_1_3_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589099"},{"key":"e_1_3_3_1_28_2","volume-title":"Conference on Robot Learning","author":"Okada Masashi","year":"2019","unstructured":"Masashi Okada and Tadahiro Taniguchi. 2019. Variational Inference MPC for Bayesian Model-based Reinforcement Learning. In Conference on Robot Learning. https:\/\/api.semanticscholar.org\/CorpusID:195847964"},{"key":"e_1_3_3_1_29_2","unstructured":"Cristina Pinneri Shambhuraj Sawant Sebastian Blaes Jan Achterhold Joerg Stueckler Michal Rolinek and Georg Martius. 2020. Sample-efficient Cross-Entropy Method for Real-time Planning. arxiv:https:\/\/arXiv.org\/abs\/2008.06389\u00a0[cs.LG] https:\/\/arxiv.org\/abs\/2008.06389"},{"key":"e_1_3_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812384"},{"key":"e_1_3_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.027"},{"key":"e_1_3_3_1_32_2","doi-asserted-by":"publisher","DOI":"10.1145\/3079856.3080256"},{"key":"e_1_3_3_1_33_2","doi-asserted-by":"crossref","unstructured":"Arun\u00a0F Rodrigues K\u00a0Scott Hemmert Brian\u00a0W Barrett Chad Kersey Ron Oldfield Marlo Weston Rolf Risen Jeanine Cook Paul Rosenfeld Elliot Cooper-Balis et\u00a0al. 2011. The structural simulation toolkit. ACM SIGMETRICS Performance Evaluation Review 38 4 (2011) 37\u201342.","DOI":"10.1145\/1964218.1964225"},{"key":"e_1_3_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA.2018.00047"},{"key":"e_1_3_3_1_35_2","doi-asserted-by":"publisher","unstructured":"Tim Salzmann Elia Kaufmann Jon Arrizabalaga Marco Pavone Davide Scaramuzza and Markus Ryll. 2023. Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms. IEEE Robotics and Automation Letters 8 4 (2023) 2397\u20132404. 10.1109\/LRA.2023.3246839","DOI":"10.1109\/LRA.2023.3246839"},{"key":"e_1_3_3_1_36_2","doi-asserted-by":"publisher","unstructured":"Tim Salzmann Elia Kaufmann Jon Arrizabalaga Marco Pavone Davide Scaramuzza and Markus Ryll. 2023. Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms. IEEE Robotics and Automation Letters 8 4 (2023) 2397\u20132404. 10.1109\/LRA.2023.3246839","DOI":"10.1109\/LRA.2023.3246839"},{"key":"e_1_3_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1145\/859618.859667"},{"key":"e_1_3_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO56248.2022.00090"},{"key":"e_1_3_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794351"},{"key":"e_1_3_3_1_40_2","doi-asserted-by":"publisher","unstructured":"Amr Suleiman Zhengdong Zhang Luca Carlone Sertac Karaman and Vivienne Sze. 2019. Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. IEEE Journal of Solid-State Circuits 54 4 (2019) 1106\u20131119. 10.1109\/JSSC.2018.2886342","DOI":"10.1109\/JSSC.2018.2886342"},{"key":"e_1_3_3_1_41_2","doi-asserted-by":"crossref","unstructured":"Zishen Wan Ashwin\u00a0Sanjay Lele Bo Yu Shaoshan Liu Yu Wang Vijay\u00a0Janapa Reddi Cong Hao and Arijit Raychowdhury. 2022. Robotic Computing on FPGAs: Current Progress Research Challenges and Opportunities. 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS) (2022) 291\u2013295. https:\/\/api.semanticscholar.org\/CorpusID:248811737","DOI":"10.1109\/AICAS54282.2022.9869951"},{"key":"e_1_3_3_1_42_2","doi-asserted-by":"publisher","unstructured":"Zishen Wan Bo Yu Thomas\u00a0Yuang Li Jie Tang Yuhao Zhu Yu Wang Arijit Raychowdhury and Shaoshan Liu. 2021. A Survey of FPGA-Based Robotic Computing. IEEE Circuits and Systems Magazine 21 2 (2021) 48\u201374. 10.1109\/MCAS.2021.3071609","DOI":"10.1109\/MCAS.2021.3071609"},{"key":"e_1_3_3_1_43_2","doi-asserted-by":"publisher","unstructured":"Grady Williams Andrew Aldrich and Evangelos\u00a0A. Theodorou. 2017. Model Predictive Path Integral Control: From Theory to Parallel Computation. Journal of Guidance Control and Dynamics 40 2 (Feb. 2017) 344\u2013357. 10.2514\/1.G001921","DOI":"10.2514\/1.G001921"},{"key":"e_1_3_3_1_44_2","doi-asserted-by":"publisher","unstructured":"Haobo Xu Yuxin Yang Feng Min Junpei Huang Xiaoming Chen Yinhe Han and Ninghui Sun. 2022. Toward Efficient Computing for Robotics: From a Circuit and System View. IEEE Transactions on Circuits and Systems II: Express Briefs 69 7 (July 2022) 3051\u20133056. 10.1109\/TCSII.2022.3179871","DOI":"10.1109\/TCSII.2022.3179871"},{"key":"e_1_3_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611180"},{"key":"e_1_3_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613424.3614298"},{"key":"e_1_3_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO50266.2020.00089"},{"key":"e_1_3_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.5281\/zenodo.7700587"}],"event":{"name":"ISCA '25: Proceedings of the 52nd Annual International Symposium on Computer Architecture","location":"Tokyo Japan","acronym":"SIGARCH '25","sponsor":["SIGARCH ACM Special Interest Group on Computer Architecture"]},"container-title":["Proceedings of the 52nd Annual International Symposium on Computer Architecture"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3695053.3731097","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3695053.3731097","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T11:04:36Z","timestamp":1750503876000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3695053.3731097"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,20]]},"references-count":47,"alternative-id":["10.1145\/3695053.3731097","10.1145\/3695053"],"URL":"https:\/\/doi.org\/10.1145\/3695053.3731097","relation":{},"subject":[],"published":{"date-parts":[[2025,6,20]]},"assertion":[{"value":"2025-06-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}