Related papers: Floorplan: Spatial Layout in Memory Management Sys…
As vision-based robots navigate larger environments, their spatial memory grows without bound, eventually exhausting computational resources, particularly on embedded platforms (8-16GB shared memory, $<$30W) where adding hardware is not an…
The primary challenge for any autonomous system operating in realistic, rather unconstrained scenarios is to manage the complexity and uncertainty of the real world. While it is unclear how exactly humans and other higher animals master…
Spatial reasoning, an important faculty of human cognition with many practical applications, is one of the core commonsense skills that is not purely language-based and, for satisfying (as opposed to optimal) solutions, requires some…
Rust is a memory-safe language, and its strong safety guarantees combined with high performance have been attracting widespread adoption in systems programming and security-critical applications. However, Rust permits the use of unsafe…
This methodology paper addresses high-performance high-productivity programming on spatial architectures. Spatial architectures are efficient for executing dataflow algorithms, yet for high-performance programming, the productivity is low…
Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing attention from researchers. However, as a compact and…
A logic program is an executable specification. For example, merge sort in pure Prolog is a logical formula, yet shows creditable performance on long linked lists. But such executable specifications are a compromise: the logic is distorted…
In this paper, we propose RoomPlanner, the first fully automatic 3D room generation framework for painlessly creating realistic indoor scenes with only short text as input. Without any manual layout design or panoramic image guidance, our…
Pointer arithmetic is widely used in low-level programs, e.g. memory allocators. The specification of such programs usually requires using pointer arithmetic inside inductive definitions to define the common data structures, e.g. heap lists…
Learning a perception and reasoning module for robotic assistants to plan steps to perform complex tasks based on natural language instructions often requires large free-form language annotations, especially for short high-level…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…
The extensive memory footprint of language model (LM) fine-tuning poses a challenge for both researchers and practitioners. LMs use an embedding matrix to represent extensive vocabularies, forming a substantial proportion of the model…
Spatial reasoning in large language models (LLMs) has gained increasing attention due to applications in navigation and planning. Despite strong general language capabilities, LLMs still struggle with spatial transformations and multi-step…
Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…
Unsafe memory accesses in programs written using popular programming languages like C/C++ have been among the leading causes for software vulnerability. Prior memory safety checkers such as SoftBound enforce memory spatial safety by…
Unsafe Rust code is necessary for interoperability with C/C++ libraries and implementing low-level data structures, but it can cause memory safety violations in otherwise memory-safe Rust programs. Sanitizers can catch such memory errors at…
Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be…
Despite the remarkable success of large language models (LLMs) on traditional natural language processing tasks, their planning ability remains a critical bottleneck in tackling complex multi-step reasoning tasks. Existing approaches mainly…
Floorplanning problem has been extensively explored for homogeneous FPGAs. Most modern FPGAs consist of heterogeneous resources in the form of configurable logic blocks, DSP blocks, BRAMs and more. Very little work has been done for…