# RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks

arXiv: https://arxiv.org/abs/2509.20688 · HTML: https://mlsanity.com/paper/2509.20688/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 22 of its 27 references that are in the map.
- First posted on arXiv 25 Sep 2025.

## Builds on (most cited first, 22 of 22)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Learning both Weights and Connections for Efficient Neural Networks](https://mlsanity.com/paper/1506.02626/) (2015)
- [FitNets: Hints for Thin Deep Nets](https://mlsanity.com/paper/1412.6550/) (2014)
- [Neural Architecture Search with Reinforcement Learning](https://mlsanity.com/paper/1611.01578/) (2016)
- [Gradient Surgery for Multi-Task Learning](https://mlsanity.com/paper/2001.06782/) (2020)
- [MnasNet: Platform-Aware Neural Architecture Search for Mobile](https://mlsanity.com/paper/1807.11626/) (2018)
- [Regularized Evolution for Image Classifier Architecture Search](https://mlsanity.com/paper/1802.01548/) (2018)
- [Once-for-All: Train One Network and Specialize it for Efficient Deployment](https://mlsanity.com/paper/1908.09791/) (2019)
- [ProxylessNAS: Direct Neural Architecture Search on Target Task and Hardware](https://mlsanity.com/paper/1812.00332/) (2018)
- [FBNet: Hardware-Aware Efficient ConvNet Design via Differentiable Neural Architecture Search](https://mlsanity.com/paper/1812.03443/) (2018)
- [Single Path One-Shot Neural Architecture Search with Uniform Sampling](https://mlsanity.com/paper/1904.00420/) (2019)
- [Decoupled Knowledge Distillation](https://mlsanity.com/paper/2203.08679/) (2022)
- [Universally Slimmable Networks and Improved Training Techniques](https://mlsanity.com/paper/1903.05134/) (2019)
- [BigNAS: Scaling Up Neural Architecture Search with Big Single-Stage Models](https://mlsanity.com/paper/2003.11142/) (2020)
- [FBNetV2: Differentiable Neural Architecture Search for Spatial and Channel Dimensions](https://mlsanity.com/paper/2004.05565/) (2020)
- [MobileOne: An Improved One millisecond Mobile Backbone](https://mlsanity.com/paper/2206.04040/) (2022)
- [NSGANetV2: Evolutionary Multi-Objective Surrogate-Assisted Neural Architecture Search](https://mlsanity.com/paper/2007.10396/) (2020)
- [AttentiveNAS: Improving Neural Architecture Search via Attentive Sampling](https://mlsanity.com/paper/2011.09011/) (2020)
- [Densely Connected Search Space for More Flexible Neural Architecture Search](https://mlsanity.com/paper/1906.09607/) (2019)
- [VDO-SLAM: A Visual Dynamic Object-aware SLAM System](https://mlsanity.com/paper/2005.11052/) (2020)
- [Surrogate-assisted Multi-objective Neural Architecture Search for Real-time Semantic Segmentation](https://mlsanity.com/paper/2208.06820/) (2022)

## Abstract (arXiv)

Neural architecture search (NAS) has shown great promise in automatically designing lightweight models. However, conventional approaches are insufficient in training the supernet and pay little attention to actual robot hardware resources. To meet such challenges, we propose RAM-NAS, a resource-aware multi-objective NAS method that focuses on improving the supernet pretrain and resource-awareness on robot hardware devices. We introduce the concept of subnets mutual distillation, which refers to mutually distilling all subnets sampled by the sandwich rule. Additionally, we utilize the Decoupled Knowledge Distillation (DKD) loss to enhance logits distillation performance. To expedite the search process with consideration for hardware resources, we used data from three types of robotic edge hardware to train Latency Surrogate predictors. These predictors facilitated the estimation of hardware inference latency during the search phase, enabling a unified multi-objective evolutionary search to balance model accuracy and latency trade-offs. Our discovered model family, RAM-NAS models, can achieve top-1 accuracy ranging from 76.7% to 81.4% on ImageNet. In addition, the resource-aware multi-objective NAS we employ significantly reduces the model's inference latency on edge hardware for robots. We conducted experiments on downstream tasks to verify the scalability of our methods. The inference time for detection and segmentation is reduced on all three hardware types compared to MobileNetv3-based methods. Our work fills the gap in NAS for robot hardware resource-aware.