Hendrik Wöhrle

Denis Lebold, Hendrik Wöhrle

The increasing computational complexity of deep neural network inference poses significant challenges for efficient hardware acceleration on embedded platforms, particularly with respect to resource consumption and scalability. This work presents OpenEye, a scalable and sparsity-aware FPGA-based hardware accelerator designed to efficiently execute common neural network operations such as convolutions, dense layers, and pooling. OpenEye is based on a highly parameterizable architecture composed of clusters of processing elements interconnected by a streaming-based dataflow. The paper provides a detailed explanation of the internal operation of the accelerator, including data movement, buffering strategies, control logic, and the coordination between clusters and PEs. The architecture natively supports sparse weights and activations, enabling the efficient processing of sparse data without unnecessary computations or memory accesses. A key design property of OpenEye is its scalability: the number of clusters and processing elements can be varied to adapt the accelerator to different performance and resource constraints. The design achieves a near-linear scaling of routing and interconnect overhead with increasing PE counts, which is essential for maintaining efficiency on large FPGA devices. To evaluate scalability across different design points, multiple OpenEye configurations with varying cluster and PE sizes were implemented on a Xilinx ZU19EG FPGA. Representative neural network operations, including convolutional, fully connected, and pooling layers, were used to analyze resource utilization, execution latency, and scalability behavior. The results show favorable trade-offs between performance and resource consumption across the explored configurations.

Matias Valdenegro-Toro, Daniel Harnack, Hendrik Wöhrle

Modeling trajectories generated by robot joints is complex and required for high level activities like trajectory generation, clustering, and classification. Disentagled representation learning promises advances in unsupervised learning, but they have not been evaluated in robot-generated trajectories. In this paper we evaluate three disentangling VAEs ($β$-VAE, Decorr VAE, and a new $β$-Decorr VAE) on a dataset of 1M robot trajectories generated from a 3 DoF robot arm. We find that the decorrelation-based formulations perform the best in terms of disentangling metrics, trajectory quality, and correlation with ground truth latent features. We expect that these results increase the use of unsupervised learning in robot control.

Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle et al.

In this paper we introduce Q-Rock, a development cycle for the automated self-exploration and qualification of robot behaviors. With Q-Rock, we suggest a novel, integrative approach to automate robot development processes. Q-Rock combines several machine learning and reasoning techniques to deal with the increasing complexity in the design of robotic systems. The Q-Rock development cycle consists of three complementary processes: (1) automated exploration of capabilities that a given robotic hardware provides, (2) classification and semantic annotation of these capabilities to generate more complex behaviors, and (3) mapping between application requirements and available behaviors. These processes are based on a graph-based representation of a robot's structure, including hardware and software components. A central, scalable knowledge base enables collaboration of robot designers including mechanical, electrical and systems engineers, software developers and machine learning experts. In this paper we formalize Q-Rock's integrative development cycle and highlight its benefits with a proof-of-concept implementation and a use case demonstration.

Felix Wiebe, Shivesh Kumar, Daniel Harnack et al.

Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the configuration space is modeled as a continuous space, we present a discrete robot model based on the fundamental hardware specifications of a robot. Using lattice path methods, we provide estimates for the complexity of motion planning by counting the number of possible trajectories in a discrete robot configuration space.