But, our current design has a limitation: the transition direction and distance are fixed, resulting in equally spaced distances between viewports.

One major reason is that current InsDet datasets are too small in scale by today's standards. For example, the popular InsDet dataset GMU (published in 2016) has only 23 instances, far less than COCO (80 classes), a well-known object detection dataset published in 2014.

However, TFLM's interpreter increases the performance overhead of the TinyML applications on MCUs. Unlike TFLM, StreamNet and MCUNetv2 replace the interpreter with a code generator. The system architecture of StreamNet contains the frontend and backend processing. Table 1 presents the data of StreamNet-2D. In Table 1, StreamNet achieves a geometric mean of 5.11X speedup TinyML models collected at the compile time to guide its auto-tuning framework.

Recent studies require an expensive pre-training phase or a heavy dense-gradient computation.

Abstract-- We present a novel modularized end-to-end framework for legged reactive navigation in complex dynamic environments using a single light detection and ranging (LiDAR) sensor . The system comprises four simulation-trained modules: three reinforcement-learning (RL) policies for locomotion, safety shielding, and navigation, and a transformer-based exteroceptive estimator that processes raw point-cloud inputs. This modular decomposition of complex legged motor-control tasks enables lightweight neural networks with simple architectures, trained using standard RL practices with targeted reward shaping and curriculum design, without reliance on heuristics or sophisticated policy-switching mechanisms. We conduct comprehensive ablations to validate our design choices and demonstrate improved robustness compared to existing approaches in challenging navigation tasks. The resulting reactive safe navigation (REASAN) system achieves fully onboard and real-time reactive navigation across both single-and multi-robot settings in complex environments. We release our training and deployment code at https://github.com/ASIG-X/REASAN Legged robots offer distinct advantages given their universal mobility, with expanding application scenarios ranging over search and rescue, logistics, entertainment, industrial inspection, and forestry inventories [1]-[4]. Recent advances in quadrupedal locomotion have demonstrated remarkable performance, particularly, in handling complex static terrains [5]-[7].