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arXiv · 2309.09212

RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance

Víctor Mayoral-Vilches·Jason Jabbour·Yu-Shun Hsiao·Zishen Wan·Martiño Crespo-Álvarez·Matthew Stewart·Juan Manuel Reina-Muñoz·Prateek Nagras·Gaurav Vikhe·Mohammad Bakhshalipour·Martin Pinzger·Stefan Rass·Smruti Panigrahi·Giulio Corradi·Niladri Roy·Phillip B. Gibbons·Sabrina M. Neuman·Brian Plancher·Vijay Janapa Reddi
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Abstract

We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to-use tools and is easily adaptable for the assessment of custom ROS 2 computational graphs. Drawing from the knowledge of leading robot architects and system architecture experts, RobotPerf establishes a standardized approach to robotics benchmarking. As an open-source initiative, RobotPerf remains committed to evolving with community input to advance the future of hardware-accelerated robotics.

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Víctor Mayoral-Vilches, Jason Jabbour, Yu-Shun Hsiao, Zishen Wan, Martiño Crespo-Álvarez, Matthew Stewart, Juan Manuel Reina-Muñoz, Prateek Nagras, Gaurav Vikhe, Mohammad Bakhshalipour, Martin Pinzger, Stefan Rass, Smruti Panigrahi, Giulio Corradi, Niladri Roy, Phillip B. Gibbons, Sabrina M. Neuman, Brian Plancher, Vijay Janapa Reddi. 2023-09-17. RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance. https://arxiv.org/abs/2309.09212

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