Weiying Wang

Weiying Wang, Zhiwei Zhang

Modern RISC vector processors rely on the synergy of multi-lane parallelism and chaining to achieve high sustained throughput, yet their achieved performance often falls substantially short of the theoretical performance bound due to microarchitectural inefficiencies. In this work, we take the open-source RVV processor Ara as the target platform and analyze the sources of its sustained-throughput loss and optimize the design accordingly. We first establish an ideal multi-lane chaining execution model as a microarchitectural reference for the ideal steady-state progression of the vector backend. Based on this model, we attribute Ara's key bottlenecks to inefficiencies along three critical execution paths: memory-side inefficiencies in data supply and transaction issuance, control-side inefficiencies caused by conservative dependence management and issue control, and operand-delivery inefficiencies caused by access conflicts and result-propagation overhead. To address these bottlenecks, we propose a coordinated set of microarchitectural optimizations. Experimental results show that, without increasing raw memory bandwidth or changing the main processor configuration, Ara-Opt achieves a geometric-mean speedup of 1.33x over baseline Ara. Under roofline-based normalization, the geometric-mean gap-closed ratio reaches 12.2%. In particular, scal, axpy, ger, and gemm achieve speedups of approximately 2.41x, 1.60x, 1.52x, and 1.42x, with corresponding gap-closed ratios of 93.7%, 88.9%, 78.3%, and 59.3%, respectively. These results show that the proposed method can effectively recover sustained-throughput capability lost to microarchitectural inefficiencies in Ara under essentially unchanged hardware resource constraints, and move the implementation points of regular streaming and high-throughput workloads significantly closer to the theoretical performance bound.

Weiying Wang, Ninad Jadhav, Paul Vohs et al.

We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active Rendezvous without using a map or the robot's location, and ii) that of rejecting outlying measurements. Our key insight is to exploit relative position data present in the communication channel between robots to improve groundtruth accuracy of PGO. We develop an algorithmic and experimental framework for integrating Channel State Information (CSI) with multi-robot PGO; it is distributed, and applicable in low-lighting or featureless environments where traditional sensors often fail. We present extensive experimental results on actual robots and observe that using Active Rendezvous results in a 64% reduction in ground truth pose error and that using CSI observations to aid outlier rejection reduces ground truth pose error by 32%. These results show the potential of integrating communication as a novel sensor for SLAM.