Hanjun Kim

h-index7
2papers

2 Papers

66.2ARApr 6Code
LOCALUT: Harnessing Capacity-Computation Tradeoffs for LUT-Based Inference in DRAM-PIM

Junguk Hong, Changmin Shin, Sukjin Kim et al.

Lookup tables (LUTs) have recently gained attention as an alternative compute mechanism that maps input operands to precomputed results, eliminating the need for arithmetic logic. LUTs not only reduce logic complexity, but also naturally support diverse numerical precisions without requiring separate circuits for each bitwidth-an increasingly important feature in quantized DNNs. This creates a favorable tradeoff in PIM: memory capacity can be used in place of logic to increase computational throughput, aligning well with DRAM-PIM architectures that offer high bandwidth and easily available memory but limited logic density. In this work, we explore this capacity-computation tradeoff in LUT-based PIM designs, where memory capacity is traded for performance by packing multiple MAC operations into a single LUT lookup. Building on this insight, we propose LOCALUT, a PIM-based design for efficient low-bit quantized DNN inference using operation-packed LUTs. First, we observe that these LUTs contain extensive redundancy and introduce LUT canonicalization, which eliminates duplicate entries to reduce LUT size. Second, we propose reordering LUT, a lightweight auxiliary LUT that remaps weight vectors to their canonical form required by LUT canonicalization with a simple LUT lookup. Third, we propose LUT slice streaming, a novel execution strategy that exploits the DRAM-buffer hierarchy by streaming only relevant LUT columns into the buffer and reusing them across multiple weight vectors. Evaluated on a real system based on UPMEM devices, we demonstrate a geometric mean speedup of 1.82x across various numeric precisions and DNN models. We believe LOCALUT opens a path toward scalable, low-logic PIM designs tailored for LUT-based DNN inference. Our implementation of LOCALUT is available at https://github.com/AIS-SNU/LoCaLUT.

ROFeb 4, 2025
HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

Hanjun Kim, Minwoo Jung, Chiyun Noh et al.

Recently, radars have been widely featured in robotics for their robustness in challenging weather conditions. Two commonly used radar types are spinning radars and phased-array radars, each offering distinct sensor characteristics. Existing datasets typically feature only a single type of radar, leading to the development of algorithms limited to that specific kind. In this work, we highlight that combining different radar types offers complementary advantages, which can be leveraged through a heterogeneous radar dataset. Moreover, this new dataset fosters research in multi-session and multi-robot scenarios where robots are equipped with different types of radars. In this context, we introduce the HeRCULES dataset, a comprehensive, multi-modal dataset with heterogeneous radars, FMCW LiDAR, IMU, GPS, and cameras. This is the first dataset to integrate 4D radar and spinning radar alongside FMCW LiDAR, offering unparalleled localization, mapping, and place recognition capabilities. The dataset covers diverse weather and lighting conditions and a range of urban traffic scenarios, enabling a comprehensive analysis across various environments. The sequence paths with multiple revisits and ground truth pose for each sensor enhance its suitability for place recognition research. We expect the HeRCULES dataset to facilitate odometry, mapping, place recognition, and sensor fusion research. The dataset and development tools are available at https://sites.google.com/view/herculesdataset.