8GB予算での両腕操作：エントリーレベルJetson上のゼロコピーセンシングと量子化ACT
Bimanual Manipulation Within an 8 GB Budget: Zero-Copy Sensing and Quantized ACT on an Entry-Level Jetson
エントリーレベルのJetson Orin Nano Super (8GB)上で、両腕操作ポリシーを実行するためのコストを評価し、ゼロコピーセンシングとTensorRT量子化により推論遅延を大幅に削減しつつタスク成功率を維持できることを示した。
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著者: Ekansh Singh, Eva Samuel, Alessandra Reneau, Ryan Schmeelk, Yashvi Gandhi
分類: cs.RO, eess.SY
原文アブストラクト
Bimanual manipulation policies trained with imitation learning are typically evaluated on workstation or datacenter-class GPUs, leaving the cost of deploying them on embedded hardware largely uncharacterized. We present a bimanual SO-101 system running entirely on an NVIDIA Jetson Orin Nano Super (8 GB), the entry-level tier of NVIDIA's embedded line, using a desktop GPU (RTX 3070) only for offline training, evaluated on pick-and-place of a deformable beanbag. First, we build a GStreamer capture pipeline backed by NVMM buffers that removes redundant host-device copies from three-camera sensing. Contrary to expectation, the conventional path fit the memory budget and dropped no frames; what zero-copy sensing recovers is CPU headroom (peak single-core utilization 98.0% to 77.0%) and worst-case latency (117.31 ms to 101.52 ms). Second, we train ACT and Diffusion Policy on identical demonstrations, each at its own reference budget (100k gradient steps for ACT, 200k for Diffusion Policy). ACT converges to a task-competent policy (19/20 trials) while Diffusion Policy does not converge to a usable one (0/10) even at twice the step count, which we attribute to differing convergence costs rather than an accuracy ceiling. Third, we convert ACT to TensorRT. FP16 reduces mean inference latency from 114.02 ms to 17.93 ms (6.4x) and INT8 to 12.65 ms (9.0x), with task success preserved at all three precisions (19/20, 18/20, 19/20). We report two findings not previously documented for ACT: TensorRT's general-purpose INT8 calibration quantizes the ResNet18 backbone but accepts zero of 145 transformer layers, explaining INT8's negligible size reduction over FP16 (0.9%) despite a further 28% latency gain; and the need for quantization is conditional on ACT's action-chunking configuration, feasible in full precision at n_action_steps = 100 but not at the per-step re-prediction temporal ensembling requires.