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Modern GPUs come with dedicated hardware to perform ray/triangle intersections and bounding volume hierarchy (BVH) traversal. While the primary use case for this hardware is photorealistic 3D computer graphics, with careful algorithm design…
Artificial intelligence (AI) application domains consist of a mix of tensor operations with high and low arithmetic intensities (aka reuse). Hierarchical (i.e. compute along multiple levels of memory hierarchy) and heterogeneous (multiple…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the…
In trajectory design, fuel consumption and trajectory reachability are two key performance indicators for low-thrust missions. This paper proposes general-purpose pretrained neural networks to predict these metrics. The contributions of…
Recently, deep learning has achieved very promising results in visual object tracking. Deep neural networks in existing tracking methods require a lot of training data to learn a large number of parameters. However, training data is not…
With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…
Path planning in high-dimensional spaces poses significant challenges, particularly in achieving both time efficiency and a fair success rate. To address these issues, we introduce a novel path-planning algorithm, Zonal RL-RRT, that…
The regular hyperbranched polymers (RHPs), also known as Vicsek fractals, are an important family of hyperbranched structures which have attracted a wide spread attention during the past several years. In this paper, we study the…
With the development of sixth generation (6G) networks toward digitalization and intelligentization of communications, rapid and precise channel prediction is crucial for the network potential release. Interestingly, a dynamic ray tracing…
Visual error metrics play a fundamental role in the quantification of perceived image similarity. Most recently, use cases for them in real-time applications have emerged, such as content-adaptive shading and shading reuse to increase…
Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…
Trajectory analysis is not only about obtaining movement data, but it is also of paramount importance in understanding the pattern in which an object moves through space and time, as well as in predicting its next move. Due to the…
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
With the fast development of AI-related techniques, the applications of trajectory prediction are no longer limited to easier scenes and trajectories. More and more trajectories with different forms, such as coordinates, bounding boxes, and…
The successor representation (SR) provides a powerful framework for decoupling predictive dynamics from rewards, enabling rapid generalisation across reward configurations. However, the classical SR is limited by its inherent policy…
We present a novel attribute learning framework named Hypergraph-based Attribute Predictor (HAP). In HAP, a hypergraph is leveraged to depict the attribute relations in the data. Then the attribute prediction problem is casted as a…
This thesis presents a number of results related to path traversal in trees and graphs. In particular, we focus on data structures which allow such traversals to be performed efficiently in the external memory setting. In addition, for…
Dynamic race detection based on the happens before (HB) partial order has now become the de facto approach to quickly identify data races in multi-threaded software. Most practical implementations for detecting these races use timestamps to…
We present a new heuristic point-to-point routing algorithm based on contraction hierarchies (CH). Given an epsilon >= 0, we can prove that the length of the path computed by our algorithm is at most (1+epsilon) times the length of the…