High-Performance and Lightweight AI Model for Robot Vacuum Cleaners with Low Bitwidth Strong Non-Uniform Quantization

Abstract

Artificial intelligence (AI) plays a critical role in the operation of robot vacuum cleaners, enabling them to intelligently navigate to clean and avoid indoor obstacles. Due to limited computational resources, manufacturers must balance performance and cost. This necessitates the development of lightweight AI models that can achieve high performance. Traditional uniform weight quantization assigns the same number of levels to all weights, regardless of their distribution or importance. Consequently, this lack of adaptability may lead to sub-optimal quantization results, as the quantization levels do not align with the statistical properties of the weights. To address this challenge, in this work, we propose a new technique called low bitwidth strong non-uniform quantization, which largely reduces the memory footprint of AI models while maintaining high accuracy. Our proposed non-uniform quantization method, as opposed to traditional uniform quantization, aims to align with the actual weight distribution of well-trained neural network models. The proposed quantization scheme builds upon the observation of weight distribution characteristics in AI models and aims to leverage this knowledge to enhance the efficiency of neural network implementations. Additionally, we adjust the input image size to reduce the computational and memory demands of AI models. The goal is to identify an appropriate image size and its corresponding AI models that can be used in resource-constrained robot vacuum cleaners while still achieving acceptable accuracy on the object classification task. Experimental results indicate that when compared to the state-of-the-art AI models in the literature, the proposed AI model achieves a 2-fold decrease in memory usage from 15.51 MB down to 7.68 MB while maintaining the same accuracy of around 93%. In addition, the proposed non-uniform quantization model reduces memory usage by 20 times (from 15.51 MB down to 0.78 MB) with a slight accuracy drop of 3.11% (the classification accuracy is still above 90%). Thus, our proposed high-performance and lightweight AI model strikes an excellent balance between model complexity, classification accuracy, and computational resources for robot vacuum cleaners.