{"id":"https://openalex.org/W4408151393","doi":"https://doi.org/10.1145/3658617.3697655","title":"APTO: Accelerating Serialization-Based Point Cloud Transformers with Position-Aware Pruning","display_name":"APTO: Accelerating Serialization-Based Point Cloud Transformers with Position-Aware Pruning","publication_year":2025,"publication_date":"2025-01-20","ids":{"openalex":"https://openalex.org/W4408151393","doi":"https://doi.org/10.1145/3658617.3697655"},"language":"en","primary_location":{"id":"doi:10.1145/3658617.3697655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3658617.3697655","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th Asia and South Pacific Design Automation Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3658617.3697655","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109110151","display_name":"Qichu Sun","orcid":"https://orcid.org/0009-0008-1148-4297"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qichu Sun","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056990517","display_name":"Rui Meng","orcid":"https://orcid.org/0009-0008-6973-0921"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Meng","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009432381","display_name":"Haishuang Fan","orcid":"https://orcid.org/0000-0002-4633-4044"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haishuang Fan","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082306673","display_name":"Fangqiang Ding","orcid":"https://orcid.org/0000-0001-5287-7128"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fangqiang Ding","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109837755","display_name":"Lei Lu","orcid":"https://orcid.org/0009-0000-0681-1507"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linxi Lu","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018329525","display_name":"Jingya Wu","orcid":"https://orcid.org/0000-0003-4938-5899"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingya Wu","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023380073","display_name":"Xiaowei Li","orcid":"https://orcid.org/0000-0002-0874-814X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Li","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015435942","display_name":"Guihai Yan","orcid":"https://orcid.org/0000-0002-1254-3278"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guihai Yan","raw_affiliation_strings":["State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","YUSUR Technology Co., Ltd., Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Processors, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"YUSUR Technology Co., Ltd., Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5109110151"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210090176","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04851719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"155","last_page":"162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/serialization","display_name":"Serialization","score":0.7283624410629272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6003455519676208},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.59169602394104},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5581912994384766},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.415052592754364},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3471624553203583},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.2196229100227356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17934423685073853},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11340108513832092},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09646478295326233}],"concepts":[{"id":"https://openalex.org/C52723943","wikidata":"https://www.wikidata.org/wiki/Q1127410","display_name":"Serialization","level":2,"score":0.7283624410629272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003455519676208},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.59169602394104},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5581912994384766},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.415052592754364},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3471624553203583},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.2196229100227356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17934423685073853},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11340108513832092},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09646478295326233},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3658617.3697655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3658617.3697655","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th Asia and South Pacific Design Automation Conference","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3658617.3697655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3658617.3697655","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th Asia and South Pacific Design Automation Conference","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2460657278","https://openalex.org/W2594519801","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2963727135","https://openalex.org/W3006586535","https://openalex.org/W3159727696","https://openalex.org/W3177330511","https://openalex.org/W3206429150","https://openalex.org/W3206453033","https://openalex.org/W3207145355","https://openalex.org/W3211525823","https://openalex.org/W4214755140","https://openalex.org/W4236965008","https://openalex.org/W4313145913","https://openalex.org/W4386763681","https://openalex.org/W4386763864","https://openalex.org/W4389162383","https://openalex.org/W4389162443","https://openalex.org/W4389339346","https://openalex.org/W4393168978","https://openalex.org/W4402667891"],"related_works":["https://openalex.org/W4231356583","https://openalex.org/W1593760324","https://openalex.org/W2376159383","https://openalex.org/W2351439380","https://openalex.org/W2899905671","https://openalex.org/W4390136247","https://openalex.org/W2365228680","https://openalex.org/W2131622620","https://openalex.org/W2362327801","https://openalex.org/W4384940449"],"abstract_inverted_index":{"Point":[0],"cloud":[1,13],"processing":[2],"has":[3,118],"broad":[4],"applications":[5],"in":[6,30,49,86],"autonomous":[7],"driving":[8],"and":[9,27,102,133,141,146],"robotics.":[10],"Serialization-based":[11],"point":[12,17],"transformers":[14],"map":[15],"unordered":[16],"clouds":[18],"onto":[19],"directed":[20],"curves,":[21],"use":[22],"sparse":[23,50],"convolution":[24,51],"for":[25,74,108,122],"down-sampling":[26],"apply":[28],"attention":[29,55,100,106],"local":[31],"windows":[32],"to":[33,82,97],"capture":[34],"spatial":[35],"relationships.":[36],"Despite":[37],"achieving":[38],"great":[39],"accuracy,":[40],"these":[41],"models":[42],"face":[43],"inference":[44],"latency":[45],"challenges:":[46],"neighbor":[47,84],"search":[48],"exhibits":[52],"low":[53],"parallelism;":[54],"computation":[56,120],"remains":[57],"complex,":[58],"especially":[59],"with":[60,111,143],"larger":[61],"window":[62],"sizes;":[63],"softmax":[64],"introduces":[65],"data":[66,113],"dependencies.":[67,114],"This":[68],"paper":[69],"proposes":[70],"APTO,":[71],"an":[72],"accelerator":[73],"serialization-based":[75],"models.":[76],"It":[77],"uses":[78],"voxels'":[79],"z-curve":[80],"indices":[81],"perform":[83],"searches":[85],"parallel,":[87],"employs":[88],"a":[89,104],"position-aware":[90],"pruning":[91],"strategy":[92],"using":[93],"neighboring":[94],"voxel":[95],"counts":[96],"eliminate":[98],"useless":[99],"computations,":[101],"adopts":[103],"fine-grained":[105],"dataflow":[107],"parallel":[109],"processes":[110],"minimal":[112],"Besides,":[115],"its":[116],"hardware":[117],"dedicated":[119],"cores":[121],"efficient":[123],"processing.":[124],"Evaluations":[125],"show":[126],"that":[127],"APTO":[128],"achieves":[129],"average":[130],"10.22\u00d7,":[131],"3.53\u00d7":[132],"2.70\u00d7":[134],"speedups":[135],"over":[136],"RTX":[137],"4090":[138],"GPU,":[139],"PointAcc,":[140],"SpOctA,":[142],"153.59\u00d7,":[144],"8.57\u00d7":[145],"7.25\u00d7":[147],"energy":[148],"savings.":[149]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}