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We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

Large language models (LLMs) excel in general tasks but struggle with domain-specific ones, requiring fine-tuning with specific data. With many open-source LLMs available, selecting the best model for fine-tuning downstream tasks is…

Leveraging machine-learning (ML) techniques for compiler optimizations has been widely studied and explored in academia. However, the adoption of ML in general-purpose, industry strength compilers has yet to happen. We propose MLGO, a…

Learned image compression (LIC) methods have experienced significant progress during recent years. However, these methods are primarily dedicated to optimizing the rate-distortion (R-D) performance at medium and high bitrates (> 0.1 bits…

Stochastic computing (SC) offers hardware simplicity but suffers from low throughput, while high-throughput Digital Computing-in-Memory (DCIM) is bottlenecked by costly adder logic for matrix-vector multiplication (MVM). To address this…

While preference optimization is crucial for improving visual generative models, how to effectively scale this paradigm remains largely unexplored. Current open-source preference datasets contain conflicting preference patterns, where…

The ever-increasing computation complexity of fast-growing Deep Neural Networks (DNNs) has requested new computing paradigms to overcome the memory wall in conventional Von Neumann computing architectures. The emerging Computing-In-Memory…

Neural implicit representations have had a significant impact on simultaneous localization and mapping (SLAM) by enabling robots to build continuous, differentiable, and high-fidelity 3D maps from sensor data. However, as the scale and…

Although person re-identification has made impressive progress, occlusion caused by obstacles remains an unsettled issue in real applications. The difficulty lies in the mismatch between incomplete occluded samples and holistic identity…

Orienting point clouds is a fundamental problem in computer graphics and 3D vision, with applications in reconstruction, segmentation, and analysis. While significant progress has been made, existing approaches mainly focus on watertight,…

End-to-end optimization, which simultaneously optimizes optics and algorithms, has emerged as a powerful data-driven method for computational imaging system design. This method achieves joint optimization through backpropagation by…

LiDAR Simultaneous Localization and Mapping (SLAM) systems are essential for enabling precise navigation and environmental reconstruction across various applications. Although current point-to-plane ICP algorithms perform effec- tively in…

The role of reinforcement learning (RL) in enhancing the reasoning of large language models (LLMs) is becoming increasingly significant. Despite the success of RL in many scenarios, there are still many challenges in improving the reasoning…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

Training large language models (LLMs) encounters challenges in GPU memory consumption due to the high memory requirements of model states. The widely used Zero Redundancy Optimizer (ZeRO) addresses this issue through strategic sharding but…

The use of directly modulated lasers (DMLs) is attractive in low-power, cost-constrained short-reach optical links. However, their limited modulation bandwidth can induce waveform distortion, undermining their data throughput. Traditional…

The rapid adoption of large language models (LLMs) is pushing AI accelerators toward increasingly powerful and specialized designs. Instead of further complicating software development with deeply hierarchical scratchpad memories (SPMs) and…

The paper describes an online deep learning algorithm (ODL) for adaptive modulation and coding in massive MIMO. The algorithm is based on a fully connected neural network, which is initially trained on the output of the traditional…

Distributed deep neural networks (DNNs) have become a cornerstone for scaling machine learning to meet the demands of increasingly complex applications. However, the rapid growth in model complexity far outpaces CMOS technology scaling,…