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TFLite is designed for this:

> It has been tested extensively with many processors based on the Arm Cortex-M Series architecture, and has been ported to other architectures including ESP32.

https://www.tensorflow.org/lite/microcontrollers

Additionally there is an optimized kernel for ESP32: https://github.com/espressif/tflite-micro-esp-examples

Edit: personally, I like the Sipeed MAIX for this application, although the software was pretty annoying when I used it (in 2020).



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