# Model Compression for Resource-Constrained Mobile Robots

arXiv: https://arxiv.org/abs/2207.10082 · HTML: https://mlsanity.com/paper/2207.10082/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 19 references that are in the map.
- First posted on arXiv 20 Jul 2022.

## Builds on (most cited first, 8 of 8)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [On the Efficacy of Knowledge Distillation](https://mlsanity.com/paper/1910.01348/) (2019)
- [Learning to Prune Deep Neural Networks via Layer-wise Optimal Brain Surgeon](https://mlsanity.com/paper/1705.07565/) (2017)
- [Pruning Convolutional Neural Networks for Resource Efficient Inference](https://mlsanity.com/paper/1611.06440/) (2016)
- [Neural Compression and Filtering for Edge-assisted Real-time Object Detection in Challenged Networks](https://mlsanity.com/paper/2007.15818/) (2020)

## Abstract (arXiv)

The number of mobile robots with constrained computing resources that need to execute complex machine learning models has been increasing during the past decade. Commonly, these robots rely on edge infrastructure accessible over wireless communication to execute heavy computational complex tasks. However, the edge might become unavailable and, consequently, oblige the execution of the tasks on the robot. This work focuses on making it possible to execute the tasks on the robots by reducing the complexity and the total number of parameters of pre-trained computer vision models. This is achieved by using model compression techniques such as Pruning and Knowledge Distillation. These compression techniques have strong theoretical and practical foundations, but their combined usage has not been widely explored in the literature. Therefore, this work especially focuses on investigating the effects of combining these two compression techniques. The results of this work reveal that up to 90% of the total number of parameters of a computer vision model can be removed without any considerable reduction in the model's accuracy.