{"id":"https://openalex.org/W3192143664","doi":"https://doi.org/10.1109/iros51168.2021.9636580","title":"Interpretable Trade-offs Between Robot Task Accuracy and Compute Efficiency","display_name":"Interpretable Trade-offs Between Robot Task Accuracy and Compute Efficiency","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3192143664","doi":"https://doi.org/10.1109/iros51168.2021.9636580","mag":"3192143664"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636580","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069623823","display_name":"B. K. Ghosh","orcid":"https://orcid.org/0000-0002-1371-2803"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bineet Ghosh","raw_affiliation_strings":["The University of North Carolina at Chapel Hill, USA"],"affiliations":[{"raw_affiliation_string":"The University of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024120306","display_name":"Sandeep Chinchali","orcid":"https://orcid.org/0000-0002-0601-3633"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sandeep Chinchali","raw_affiliation_strings":["The University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065269963","display_name":"Parasara Sridhar Duggirala","orcid":"https://orcid.org/0000-0002-8871-0298"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parasara Sridhar Duggirala","raw_affiliation_strings":["The University of North Carolina at Chapel Hill, USA"],"affiliations":[{"raw_affiliation_string":"The University of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069623823"],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":0.197,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56150652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"97","issue":null,"first_page":"5364","last_page":"5371"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7889475226402283},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7444707751274109},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6792148351669312},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6480333805084229},{"id":"https://openalex.org/keywords/server","display_name":"Server","score":0.5662258267402649},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4967802166938782},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4953712224960327},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4694898724555969},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.4327632486820221},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4217737019062042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41472500562667847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18159544467926025}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7889475226402283},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7444707751274109},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6792148351669312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6480333805084229},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.5662258267402649},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4967802166938782},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4953712224960327},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4694898724555969},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.4327632486820221},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4217737019062042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41472500562667847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18159544467926025},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636580","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1923531552","https://openalex.org/W1992065791","https://openalex.org/W1994826906","https://openalex.org/W2158582431","https://openalex.org/W2194775991","https://openalex.org/W2552617439","https://openalex.org/W2736923367","https://openalex.org/W2762692090","https://openalex.org/W2903874029","https://openalex.org/W2955425717","https://openalex.org/W2963433148","https://openalex.org/W2979419513","https://openalex.org/W2995428361","https://openalex.org/W3098031065","https://openalex.org/W3105866452","https://openalex.org/W3114386910","https://openalex.org/W3115503695","https://openalex.org/W3132959737","https://openalex.org/W3183780328","https://openalex.org/W3192143664","https://openalex.org/W3200620117","https://openalex.org/W3210852037","https://openalex.org/W4241562005","https://openalex.org/W4288022794","https://openalex.org/W4393841672","https://openalex.org/W6750312608","https://openalex.org/W6762718338","https://openalex.org/W6769412281","https://openalex.org/W6786048923","https://openalex.org/W6800863527","https://openalex.org/W6803374278"],"related_works":["https://openalex.org/W3139034309","https://openalex.org/W2770042457","https://openalex.org/W2789392837","https://openalex.org/W4244478748","https://openalex.org/W2092530219","https://openalex.org/W805044372","https://openalex.org/W43529266","https://openalex.org/W2998025959","https://openalex.org/W2981831722","https://openalex.org/W770322104"],"abstract_inverted_index":{"A":[0],"robot":[1,95],"can":[2,121],"invoke":[3,97],"heterogeneous":[4],"computation":[5,16,28],"resources":[6],"such":[7,118,149],"as":[8,150],"CPUs,":[9],"cloud":[10],"GPU":[11],"servers,":[12],"or":[13],"even":[14],"human":[15],"for":[17],"achieving":[18],"a":[19,36,46,50,94,159],"high-level":[20],"goal.":[21],"The":[22,86],"problem":[23,66],"of":[24,132,143,158],"invoking":[25],"an":[26,59],"appropriate":[27],"model":[29,51,64,101],"so":[30],"that":[31,93,117],"it":[32],"will":[33],"successfully":[34],"complete":[35],"task":[37],"while":[38],"keeping":[39],"its":[40],"compute":[41,69,100,136],"and":[42,78,134,155],"energy":[43],"costs":[44],"within":[45],"budget":[47],"is":[48,92],"called":[49],"selection":[52,65],"problem.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57],"present":[58],"optimal":[60],"solution":[61,91],"to":[62,146],"the":[63,71,79,98,104,107,112,126,130,140],"with":[67],"two":[68],"models,":[70],"first":[72],"being":[73,81],"fast":[74,133],"but":[75,83],"less":[76],"accurate,":[77],"second":[80],"slow":[82,135],"more":[84],"accurate.":[85],"main":[87],"insight":[88],"behind":[89],"our":[90,144],"should":[96],"slower":[99],"only":[102],"when":[103],"benefits":[105],"from":[106],"gain":[108],"in":[109],"accuracy":[110,131],"outweigh":[111],"computational":[113],"costs.":[114],"We":[115,138],"show":[116],"cost-benefit":[119],"analysis":[120],"be":[122],"performed":[123],"by":[124],"leveraging":[125],"statistical":[127],"correlation":[128],"between":[129],"models.":[137],"demonstrate":[139],"broad":[141],"applicability":[142],"approach":[145],"diverse":[147],"problems":[148],"perception":[151],"using":[152],"neural":[153],"networks":[154],"safe":[156],"navigation":[157],"simulated":[160],"Mars":[161],"rover.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
