Related papers: PLAM: a Posit Logarithm-Approximate Multiplier

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

The goal of combining the robustness of neural networks and the expressivity of symbolic methods has rekindled the interest in neuro-symbolic AI. Recent advancements in neuro-symbolic AI often consider specifically-tailored architectures…

FPGAs have distinct advantages as a technology for deploying deep neural networks (DNNs) at the edge. Lookup Table (LUT) based networks, where neurons are directly modeled using LUTs, help maximize this promise of offering ultra-low latency…

Pose graph optimization (PGO) is fundamental to robot perception and navigation systems, serving as the mathematical backbone for solving simultaneous localization and mapping (SLAM). Existing solvers suffer from polynomial growth in…

Multi-term floating-point addition appears in vector dot-product computations, matrix multiplications, and other forms of floating-point data aggregation. A critical step in multi-term floating point addition is the alignment of fractions…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

We present an evaluation of 32-bit POSIT arithmetic through its implementation as accelerators on FPGAs and GPUs. POSIT, a floating-point number format, adaptively changes the size of its fractional part. We developed hardware designs for…

Nowadays, parallel computing is ubiquitous in several application fields, both in engineering and science. The computations rely on the floating-point arithmetic specified by the IEEE754 Standard. In this context, an elementary brick of…

The growing demand for edge-AI systems requires arithmetic units that balance numerical precision, energy efficiency, and compact hardware while supporting diverse formats. Posit arithmetic offers advantages over floating- and fixed-point…

Deep Neural Networks (DNNs) have transformed the field of machine learning and are widely deployed in many applications involving image, video, speech and natural language processing. The increasing compute demands of DNNs have been widely…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

Large neural networks spend most computation on floating point tensor multiplications. In this work, we find that a floating point multiplier can be approximated by one integer adder with high precision. We propose the linear-complexity…

Solving constrained nonlinear programs (NLPs) is of great importance in various domains such as power systems, robotics, and wireless communication networks. One widely used approach for addressing NLPs is the interior point method (IPM).…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

Floating point division, even though being an infrequent operation in the traditional sense, is indis- pensable when it comes to a range of non-traditional applications such as K-Means Clustering and QR Decomposition just to name a few. In…

The goal of combining the robustness of neural networks and the expressiveness of symbolic methods has rekindled the interest in Neuro-Symbolic AI. Deep Probabilistic Programming Languages (DPPLs) have been developed for probabilistic logic…

This paper investigates solving convex composite optimization on an undirected network, where each node, privately endowed with a smooth component function and a nonsmooth one, is required to minimize the sum of all the component functions…

Data movement in memory-intensive workloads, such as deep learning, incurs energy costs that are over three orders of magnitude higher than the cost of computation. Since these workloads involve frequent data transfers between memory and…

We introduce a new logic programming language T-PRISM based on tensor embeddings. Our embedding scheme is a modification of the distribution semantics in PRISM, one of the state-of-the-art probabilistic logic programming languages, by…