Publications

This includes select publications from the PI’s time at the Harvard Agile Robotics and Edge Computing Labs.

Preprints

Shvetank Prakash , Matthew Stewart , Colby Banbury , Mark Mazumder , Pete Warden , Brian Plancher , Vijay Janapa Reddi (2023). Is TinyML Sustainable? Assessing the Environmental Impacts of Machine Learning on Microcontrollers.

Journal Articles

Pete Warden , Matthew Stewart , Brian Plancher , Sachin Katti , Vijay Janapa Reddi (2023). Machine Learning Sensors: A Design Paradigm for the Future of Intelligent Sensors. In CACM 2023.

Website Full Technical Report

Vijay Janapa Reddi , Brian Plancher , Susan Kennedy , Laurence Moroney , Pete Warden , Anant Agarwal , Colby Banbury , Massimo Banzi , Matthew Bennett , Benjamin Brown , Sharad Chitlangia , Radhika Ghosal , Sarah Grafman , Rupert Jaeger , Srivatsan Krishnan , Maximilian Lam , Daniel Leiker , Cara Mann , Mark Mazumder , Dominic Pajak , Dhilan Ramaprasad , J. Evan Smith , Matthew Stewart , Dustin Tingley (2022). Widening Access to Applied Machine Learning with TinyML. In HDSR 2022.

PDF DOI Course Main Page TinyML Open Education Initiative MOOC Website MOOC Course Materials

Brian Plancher , Sabrina M. Neuman , Thomas Bourgeat , Scott Kuindersma , Srini Devadas , Vijay Janapa Reddi (2021). Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA. In RA-L and at ICRA 2021.

PDF Code Slides Video DOI

Conference Papers

Lev Grossman , Brian Plancher (2023). Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion. In ICRA 2023.

Jeremiah Blanchard , John R. Hott , Vincent Berry , Rebecca Carroll , Bob Edmison , Richard Glassey , Oscar Karnalim , Brian Plancher , Seán Russell (2022). Stop Reinventing the Wheel! Promoting Community Software in Computing Education. In ITiCSE-WGR 2022.

PDF Slides DOI Website

Víctor Mayoral-Vilches , Sabrina M. Neuman , Brian Plancher , Vijay Janapa Reddi (2022). RobotCore: An Open Architecture for Hardware Acceleration in ROS 2. In IROS 2022.

PDF DOI Website

Sabrina M. Neuman , Brian Plancher , Bardienus Duisterhof , Srivatsan Krishnan , Colby Banbury , Mark Mazumder , Shvetank Prakash , Jason Jabbour , Aleksandra Faust , Guido C.H.E. de Croon , Vijay Janapa Reddi (2022). Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots. In AICAS 2022.

Brian Plancher , Sabrina M. Neuman , Radhika Ghosal , Scott Kuindersma , Vijay Janapa Reddi (2022). GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients. In ICRA 2022.

PDF Code Poster Slides Video DOI Benchmark Experiments

Sabrina M. Neuman , Brian Plancher , Thomas Bourgeat , Thierry Tambe , Srini Devadas , Vijay Janapa Reddi (2021). Robomorphic Computing: A Design Methodology for Domain-Specific Accelerators Parameterized by Robot Morphology. In ASPLOS 2021.
IEEE Micro Top Picks 2022 Honorable Mention

PDF Slides Video DOI Extended Abstract

Brian Plancher , Scott Kuindersma (2018). A Performance Analysis of Parallel Differential Dynamic Programming on a GPU. In WAFR 2018.

PDF Code Slides DOI

Sertac Karaman , Ariel Anders , Michael Boulet , Jane Connor , Kenneth Gregson , Winter Guerra , Owen Guldner , Mubarik Mohamoud , Brian Plancher , Robert Shin , John Vivilecchia (2017). Project-based, collaborative, algorithmic robotics for high school students: Programming self-driving race cars at MIT. In ISEC 2017.

Brian Plancher , Zachary Manchester , Scott Kuindersma (2017). Constrained Unscented Dynamic Programming. In IROS 2017.

PDF Code Poster Slides DOI

Workshop Papers / Abstracts / Posters

Jeremiah Blanchard , John R. Hott , Vincent Berry , Rebecca Carroll , Bob Edmison , Richard Glassey , Oscar Karnalim , Brian Plancher , Seán Russell (2022). Leveraging Community Software in CS Education to Avoid Reinventing the Wheel. In ITiCSE 2022.

Jason Jabbour , Sabrina M. Neuman , Mark Mazumder , Colby Banbury , Shvetank Prakash , Brian Plancher , Vijay Janapa Reddi (2022). Closing the Sim-to-Real Gap for Ultra-Low-Cost, Resource-Constrained, Quadruped Robot Platforms. In Workshop on Closing the Sim2Real Gap at RSS 2022.

PDF Slides Video

Marco Zennaro , Brian Plancher , Vijay Janapa Reddi (2022). TinyML: Applied AI for Development. In UN STI Forum 2022.

PDF STI Forum Website

Brian Plancher , Vijay Janapa Reddi (2022). TinyMLedu: The Tiny Machine Learning Open Education Initiative. In SIGCSE 2022.

PDF Slides Video DOI

Brian Plancher , Scott Kuindersma (2019). Realtime Model Predictive Control using Parallel DDP on a GPU. In Online Optimal Control Workshop at ICRA 2019.

PDF Code Poster Video

Dissertations and Theses

Dhilan Ramaprasad (2022). Teaching Embedded Systems Programming. Harvard University Bachelors of Arts Thesis.

Brian Plancher (2022). GPU Acceleration for Real-time, Whole-body, Nonlinear Model Predictive Control. Harvard University PhD Dissertation.

Lev Grossman (2020). Reinforcement Learning to Enable Robust Robotic Model Predictive Control. Harvard University Bachelors of Arts Thesis.

Brian Plancher (2018). Parallel and Constrained Differential Dynamic Programming for Model Predictive Control. Harvard University Masters of Engineering Thesis.