After Industry 4.0 has embraced tight integration between machinery (OT), software (IT), and the Internet, creating a web of sensors, data, and algorithms in service of efficient and reliable production, a new concept of Society 5.0 is emerging, in which infrastructure of a city will be instrumented to increase reliability, efficiency, and safety. Robotics will play a pivotal role in enabling this vision that is pioneered by the NEOM initiative - a smart city, co-inhabited by humans and robots. In this paper we explore the computing platform that will be required to enable this vision. We show how we can combine neuromorphic computing hardware, exemplified by the Loihi2 processor used in conjunction with event-based cameras, for sensing and real-time perception and interaction with a local AI compute cluster (GPUs) for high-level language processing, cognition, and task planning. We demonstrate the use of this hybrid computing architecture in an interactive task, in which a humanoid robot plays a musical instrument with a human. Central to our design is the efficient and seamless integration of disparate components, ensuring that the synergy between software and hardware maximizes overall performance and responsiveness. Our proposed system architecture underscores the potential of heterogeneous computing architectures in advancing robotic autonomy and interactive intelligence, pointing toward a future where such integrated systems become the norm in complex, real-time applications.

翻译：工业4.0实现了机械设备（OT）、软件（IT）与互联网的深度融合，构建了服务于高效可靠生产的传感器、数据与算法网络。在此背景下，社会5.0的新概念正在兴起，城市基础设施将通过智能化改造提升可靠性、效率与安全性。由NEOM计划引领的智慧城市——一个人机共生的环境——将依赖机器人技术实现这一愿景。本文探讨了支撑该愿景所需的新型计算平台。我们展示了如何将神经形态计算硬件（以Loihi2处理器与事件相机结合的系统为代表）用于传感与实时感知交互，同时与本地AI计算集群（GPU）协同处理高级语言理解、认知与任务规划。通过人形机器人与人类合作演奏乐器的交互任务，验证了该混合计算架构的有效性。该设计的核心在于实现异构组件的高效无缝集成，确保软硬件协同最大化系统整体性能与响应能力。我们提出的系统架构彰显了异构计算在提升机器人自主性与交互智能方面的潜力，预示着此类集成系统将在复杂实时应用领域成为常态。