Related papers: Robotic Template Library

As hardware design complexity escalates, there is an urgent need for advanced automation in electronic design automation (EDA). Traditional register transfer level (RTL) design methods are manual, time-consuming, and prone to errors. While…

Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…

Recent advances in multi-modal pre-training methods have shown promising effectiveness in learning 3D representations by aligning multi-modal features between 3D shapes and their corresponding 2D counterparts. However, existing multi-modal…

In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. Using our system, even novice users can perform robot task planning…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

With the growth of machine learning algorithms with geometry primitives, a high-efficiency library with differentiable geometric operators are desired. We present an optimized Differentiable Geometry Algorithm Library (DGAL) loaded with…

Large Language Models (LLMs) are computational models capable of performing complex natural language processing tasks. Leveraging these capabilities, LLMs hold the potential to transform the entire hardware design stack, with predictions…

Professionals working in technical domain typically hand-draw (on whiteboard, paper, etc.) technical diagrams (e.g., flowcharts, block diagrams, etc.) during discussions; however, if they want to edit these later, it needs to be drawn from…

To address the challenges associated with data processing at scale, we propose Dataverse, a unified open-source Extract-Transform-Load (ETL) pipeline for large language models (LLMs) with a user-friendly design at its core. Easy addition of…

Machine learning (ML) is a subfield of artificial intelligence. The term applies broadly to a collection of computational algorithms and techniques that train systems from raw data rather than a priori models. ML techniques are now…

Recently, Vision Language Models (VLMs) have experienced significant advancements, yet these models still face challenges in spatial hierarchical reasoning within indoor scenes. In this study, we introduce ROOT, a VLM-based system designed…

Many recent works show that a spatial manipulation module could boost the performances of deep neural networks (DNNs) for 3D point cloud analysis. In this paper, we aim to provide an insight into spatial manipulation modules. Firstly, we…

Multi-Task Learning (MTL) can enhance a classifier's generalization performance by learning multiple related tasks simultaneously. Conventional MTL works under the offline or batch setting, and suffers from expensive training cost and poor…

MDL, Multimodal Deep Learning Library, is a deep learning framework that supports multiple models, and this document explains its philosophy and functionality. MDL runs on Linux, Mac, and Unix platforms. It depends on OpenCV.

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

HYPERTILING is a high-performance Python library for the generation and visualization of regular hyperbolic lattices embedded in the Poincar\'e disk model. Using highly optimized, efficient algorithms, hyperbolic tilings with millions of…

Motivated by the challenge presented by non-Markovian objectives in reinforcement learning (RL), we present a novel framework to track and represent the progress of autonomous agents through complex, multi-stage tasks. Given a specification…

Within the past decade, the rise of applications based on artificial intelligence (AI) in general and machine learning (ML) in specific has led to many significant contributions within different domains. The applications range from robotics…

MLJ (Machine Learing in Julia) is an open source software package providing a common interface for interacting with machine learning models written in Julia and other languages. It provides tools and meta-algorithms for selecting, tuning,…

Recent advancements in large language models (LLMs) have shown significant potential for automating hardware description language (HDL) code generation from high-level natural language instructions. While fine-tuning has improved LLMs'…