Merge pull request #8 from ReactiveBayes/add-rpi5-benchmark-runner

Add self-hosted Raspberry Pi 5 as a benchmark target

Author: bvdmitri

.github/workflows/benchmark.yml

@@ -22,6 +22,11 @@ concurrency:
   group: benchmark
   cancel-in-progress: false
 
+# Run JS-based actions (checkout, setup-julia, and the actions/cache + pyTooling
+# steps vendored inside julia-actions/cache) on Node 24 — Node 20 is deprecated.
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+
 jobs:
   tests:
     name: Gate — full test suite
@@ -30,18 +35,24 @@ jobs:
       contents: read
 
   bench:
-    name: Benchmark (Julia ${{ matrix.julia }})
+    name: Benchmark (${{ matrix.hardware }} · Julia ${{ matrix.julia }})
     needs: tests
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.runner }}
     permissions:
       contents: write # pushes result files
     strategy:
       fail-fast: false
-      max-parallel: 1 # serialize commits between Julia versions
+      max-parallel: 1 # serialize commits across every hardware/Julia leg
       matrix:
-        julia: ["1.10", "1.11", "1.12"]
+        include:
+          - { julia: "1.10", runner: ubuntu-latest, hardware: github-actions-ubuntu }
+          - { julia: "1.11", runner: ubuntu-latest, hardware: github-actions-ubuntu }
+          - { julia: "1.12", runner: ubuntu-latest, hardware: github-actions-ubuntu }
+          - { julia: "1.10", runner: [self-hosted, ARM64, pi5], hardware: rpi5-8gb }
+          - { julia: "1.11", runner: [self-hosted, ARM64, pi5], hardware: rpi5-8gb }
+          - { julia: "1.12", runner: [self-hosted, ARM64, pi5], hardware: rpi5-8gb }
     env:
-      RXBENCH_HARDWARE_ID: github-actions-ubuntu
+      RXBENCH_HARDWARE_ID: ${{ matrix.hardware }}
       USE_DEV: "false"
       LOG_USING_RXINFER: "false"
       JULIA_FASTCHOLESKY_THROW_ERROR_NON_SYMMETRIC: "1"
@@ -90,7 +101,7 @@ jobs:
             echo "no new results"
             exit 0
           fi
-          git commit -m "bench: results for ${GITHUB_SHA::7} (julia ${{ matrix.julia }}) [skip ci]"
+          git commit -m "bench: results for ${GITHUB_SHA::7} (${{ matrix.hardware }} julia ${{ matrix.julia }}) [skip ci]"
           # Another matrix leg may have pushed first. Result files live in disjoint
           # folders, but the regenerated index.json/mirrors can conflict — resolve by
           # regenerating them from the union (they are wholesale-generated artifacts).

.github/workflows/pages.yml

@@ -22,6 +22,10 @@ concurrency:
   group: pages
   cancel-in-progress: true
 
+# Run JS-based actions on Node 24 — Node 20 is deprecated.
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/test.yml

@@ -17,6 +17,11 @@ on:
 permissions:
   contents: read
 
+# Run JS-based actions (checkout, setup-julia, setup-node, and the actions/cache +
+# pyTooling steps vendored inside julia-actions/cache) on Node 24 — Node 20 is deprecated.
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+
 jobs:
   harness:
     name: Harness (Julia ${{ matrix.julia }})

IDEA.md

@@ -45,9 +45,10 @@ pooled samples.
 
 **CI** (`.github/workflows/`): every Monday, benchmarks run on GitHub Actions for several Julia
 versions (always against the latest released RxInfer via `Pkg.update()`), and a bot commits the
-new/merged result files. Weekly tests keep everything honest. Later, self-hosted runners
-(Raspberry Pi and other hardware) add their own result folders — different hardware runs at
-different times, and the data format doesn't care.
+new/merged result files. Weekly tests keep everything honest. A self-hosted Raspberry Pi 5
+(`rpi5-8gb`, ARM64) runs the same suite on the same schedule into its own result folder — and
+further self-hosted hardware can be added the same way; different hardware runs at different
+times, and the data format doesn't care.
 
 **Dashboard** (`frontend/`): Next.js + Tailwind + shadcn (static export, Julia-colored theme),
 fetching the data at runtime from this repo's `data/` folder on GitHub — so new benchmark results

benchmarks/harness/test/test_config.jl

@@ -60,6 +60,9 @@ const REPO_ROOT = normpath(joinpath(@__DIR__, "..", "..", ".."))
     @testset "hardware: real repo file parses" begin
         hw = Harness.load_hardware(joinpath(REPO_ROOT, "data", "hardware.yml"))
         @test haskey(hw, "github-actions-ubuntu")
+        @test haskey(hw, "rpi5-8gb")
+        @test hw["rpi5-8gb"]["label"] == "Raspberry Pi 5 (8GB)"
+        @test hw["rpi5-8gb"]["arch"] == "aarch64"
     end
 
     @testset "hardware: duplicate ids rejected" begin

data/hardware.json

@@ -9,6 +9,14 @@
             "notes": "Shared CI runner; absolute numbers are noisy, trends are meaningful.",
             "os": "linux"
         },
+        {
+            "label": "Raspberry Pi 5 (8GB)",
+            "kind": "self-hosted",
+            "arch": "aarch64",
+            "id": "rpi5-8gb",
+            "notes": "Self-hosted Raspberry Pi 5 (8GB) ARM64 runner; tracks RxInfer performance on embedded/ARM hardware.",
+            "os": "linux"
+        },
         {
             "label": "Local development machine",
             "kind": "local",

data/hardware.yml

@@ -11,6 +11,13 @@ hardware:
     arch: x86_64
     notes: Shared CI runner; absolute numbers are noisy, trends are meaningful.
 
+  - id: rpi5-8gb
+    label: Raspberry Pi 5 (8GB)
+    kind: self-hosted
+    os: linux
+    arch: aarch64
+    notes: Self-hosted Raspberry Pi 5 (8GB) ARM64 runner; tracks RxInfer performance on embedded/ARM hardware.
+
   - id: local-dev
     label: Local development machine
     kind: local

data/seed/hardware.json

@@ -9,6 +9,14 @@
             "notes": "Shared CI runner; absolute numbers are noisy, trends are meaningful.",
             "os": "linux"
         },
+        {
+            "label": "Raspberry Pi 5 (8GB)",
+            "kind": "self-hosted",
+            "arch": "aarch64",
+            "id": "rpi5-8gb",
+            "notes": "Self-hosted Raspberry Pi 5 (8GB) ARM64 runner; tracks RxInfer performance on embedded/ARM hardware.",
+            "os": "linux"
+        },
         {
             "label": "Local development machine",
             "kind": "local",

data/seed/results/index.json

@@ -1,5 +1,5 @@
 {
-    "generated_utc": "2026-06-03T14:39:51Z",
+    "generated_utc": "2026-06-16T14:07:55Z",
     "schema_version": 2,
     "hardware": [
         {

design/architecture.md

@@ -60,9 +60,11 @@ results appear without a rebuild. `pages.yml` only reacts to `frontend/**` chang
 ## Multi-hardware, multi-Julia
 
 - Hardware targets are registered in `data/hardware.yml`; a runner identifies itself via the
-  `RXBENCH_HARDWARE_ID` env var. GitHub Actions runners now; self-hosted (Raspberry Pi, etc.)
-  later — each gets its own results folder, runs on its own schedule, and the data format never
-  assumes aligned timelines.
+  `RXBENCH_HARDWARE_ID` env var. Two targets are live today: the shared GitHub Actions runner
+  (`github-actions-ubuntu`, x86_64) and a self-hosted Raspberry Pi 5 (`rpi5-8gb`, ARM64,
+  targeted in `benchmark.yml` via the `[self-hosted, ARM64, pi5]` labels). Each gets its own
+  results folder, runs on its own schedule, and the data format never assumes aligned timelines —
+  so adding further self-hosted hardware is purely additive.
 - Benchmarks run for a **fixed list of Julia versions** (currently 1.10, 1.11, 1.12 — extend the
   matrix in `.github/workflows/` when a new minor lands), always against the **latest released
   RxInfer**. Each (hardware, Julia minor) pair has its own results subfolder; the dashboard lets