Have you try to use the NPU?

[Blastar-04]

Hi, my name is Raul Aguilar. I'm mathmathician and I have worked for many years with Neural Networks I guess a great option for your project is try it on a Orange Pi CM4 this one includes a NPU for achive trillions of calculations. The Orange PI CM4 its almost the same size for the raspberry. Once this work on the new hardware can it be updated to MG996 that gives 15kg power.

Please keep in touch.
Regards