Outline ● What is plugin architecture? ● Why use plugin architecture? ● Designing a simplified plugin architecture ● Library used in robotics to implement plugin based system ○ Pluginlib ● Case study study for plugin architecture - MoveIt ● Limitations ● Summary 2Introduction •Abi Sivaraman •Robotics Engineer at PickNik Robotics •I work with robotic arms •MoveIt Maintainer 3What is plugin plugin architecture? Software Design Pattern that allows for developers to add functionality to a larger system without having to alter the source code of the system itself. Plug-ins are self-contained

embedded software • Started using C++ in 1995 • First cross-platform project in 1994Cross-Platform Architecture Goals • Take advantage of all platforms • Focus on the compiler • Minimize boilerplate and unnecessary requiring implementations that differ depending upon the target machine architecture. • Features may be hardware: CPU architecture, SIMD instruction set, DMA controller, GPIO module, etc. • Features

and then use that knowledge to make predictions ◮ Applications: ◮ Computer vision ◮ Medicine ◮ Search engines 6 / 50Embedded devices ◮ Computing devices designed to perform specific tasks within larger paradigm in which an algorithm learns from labeled data to make predictions 11 / 50Neural network (NN) 13 / 50Convolutional neural network (CNN) ◮ Efficient in image classification ◮ A convolutional layer can 50Software dependencies ◮ TensorFlow Lite ◮ OpenCV 16 / 50MobileNet pre-trained model ◮ CNN architecture created by Google ◮ Trained on 1000 classes ◮ Accepts 224x224-pixel images, with 3 color channels

What we do at Snap with C++ 2 Neural style transfer Face tracking Full body tracking Cloth simulation Ray tracing Wrist trackingThank you, Serhii Huralnik and Eduardo Madrid!! 3Section 0. Introduction V ABI Procedure Call Standard for the Arm® 64-bit Architecture armv8-a clang 18.1.0 -O2 -std=c++20 x86-64 (AMD64) System V ABI AMD64 Architecture Processor Supplement x86-64 gcc 14.2 -O2 -std=c++20 System V ABI Procedure Call Standard for the Arm® Architecture armv7-a clang 11.0.1 -O2 -std=c++20 x86 (IA-32) System V ABI Intel386 Architecture Processor Supplement x86-64 gcc 14.2 -O2 -std=c++20

Programming Benchmark triSYCL 360k download s 17Sensor Data Training Data Trained Networks Neural Network Training C++ Application Code SYCL in Embedded Systems, Automotive, and AI Compilation and Test Algorithm Today’s Supercomputing Development Workflow needs knowledge of system architecture and tools that control data Optimize Algorithm 2021 Three Pillars of Science Problem 2021

devices, phone, etc, do not have access to GPU. To bridge that gap, micrograd++ let’s any user train a neural network in C++ and ship that to any edge device. II. RELEVANCE The development of micrograd++ is linking process. B. Key Features and Functionalities • Neural Networks: micrograd++ provides comprehensive support for creating and training neural networks. The library includes classes for defining layers propagate gradients through the graph. Layer Class: The Layer class represents a single layer in a neural network, composed of multiple neurons. It supports forward propagation and gradient computation,

&bias, &stride_arg, &output}; }A Library of Data Dependencies Elementwise Ops Linear Algebra Neural Nets Database Trees 77Subset Decomposition 78 x: 0, y: 0, len_x:2, len_y:2Subset Decomposition Data-Structures to Fern 88A Library of Data Dependencies & Data Structures Elementwise Ops Linear Algebra Neural Nets Database Trees 89 x: 0, y: 0, len_x:2, len_y:2Write a Pipeline Lightweight Fusion of

Angeles - I write a lot of different types of code - Lots of C++ in our audio engine - C++ in neural inference code - Some Swift for our iOS - Some Typescript - Plus a bunch more… - MSc Computer

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated application relies on the Poco libraries. Let’s look for it in the Conan Center remote: $ conan search Poco --remote=conan-center Existing package recipes: (continues on next page) 11 Conan Documentation

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated application relies on the Poco libraries. Let’s look for it in the Conan Center remote: $ conan search Poco --remote=conan-center Existing package recipes: (continues on next page) 11 Conan Documentation