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Abstract Recent advances in AI culminate a shift in science and engineering away from strong reliance on algorithmic and symbolic knowledge towards new data-driven approaches. How does the emerging intelligent data-centric world impact research on real-time and embedded computing? We argue for two effects: (1) new challenges in embedded system contexts, and (2) new opportunities for community expansion beyond the embedded domain. First,on the embedded system side, the shifting nature of computing towardsdata-centricityaffects the types of bottlenecks that arise. At training time, the bottlenecks are generallydata-related. Embedded computing relies onscarcesensor data modalities, unlike those commonly addressed in mainstream AI, necessitating solutions forefficient learningfrom scarce sensor data. At inference time, the bottlenecks areresource-related, calling forimproved resource economyandnovel scheduling policies. Further ahead, the convergence of AI around large language models (LLMs) introduces additionalmodel-relatedchallenges in embedded contexts. Second,on the domain expansion side, we argue that community expertise in handling resource bottlenecks is becoming increasingly relevant to a new domain: thecloudenvironment, driven by AI needs. The paper discusses the novel research directions that arise in the data-centric world of AI, covering data-, resource-, and model-related challenges in embedded systems as well as new opportunities in the cloud domain. 

When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to robot navigation, including dynamic obstacles and terrain uncertainty, leading to inefficient traversal or navigation failures. To address these challenges, we introduce a novel approach for adaptation by negotiation that enables a ground robot to adjust its navigational behaviors through a negotiation process. Our approach first learns prediction models for various navigational policies to function as a terrain-aware joint local controller and planner. Then, through a new negotiation process, our approach learns from various policies' interactions with the environment to agree on the optimal combination of policies in an online fashion to adapt robot navigation to unstructured off-road terrains on the fly. Additionally, we implement a new optimization algorithm that offers the optimal solution for robot negotiation in real-time during execution. Experimental results have validated that our method for adaptation by negotiation outperforms previous methods for robot navigation, especially over unseen and uncertain dynamic terrains. 

Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field environments such as forests, the robot’s actual behaviors often do not match its expected or planned behaviors, due to changes in the characteristics of terrains and the robot itself. Therefore, the capability of robot adaptation for consistent behavior generation is essential for maneuverability on unstructured off-road terrains. In order to address the challenge, we propose a novel method of self-reflective terrain-aware adaptation for ground robots to generate consistent controls to navigate over unstructured off-road terrains, which enables robots to more accurately execute the expected behaviors through robot self-reflection while adapting to varying unstructured terrains. To evaluate our method’s performance, we conduct extensive experiments using real ground robots with various functionality changes over diverse unstructured off-road terrains. The comprehensive experimental results have shown that our self-reflective terrain-aware adaptation method enables ground robots to generate consistent navigational behaviors and outperforms the compared previous and baseline techniques.