Related papers: Sramm: short read alignment mapping metrics
Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…
Stereo depth estimation is used for many computer vision applications. Though many popular methods strive solely for depth quality, for real-time mobile applications (e.g. prosthetic glasses or micro-UAVs), speed and power efficiency are…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Sum-rank Hamming codes are introduced in this work. They are essentially defined as the longest codes (thus of highest information rate) with minimum sum-rank distance at least $ 3 $ (thus one-error-correcting) for a fixed redundancy $ r $,…
Knowledge graphs play a pivotal role in various applications, such as question-answering and fact-checking. Abstract Meaning Representation (AMR) represents text as knowledge graphs. Evaluating the quality of these graphs involves matching…
In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…
Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms.We…
In many modern LLM applications, such as retrieval augmented generation, prompts have become programs themselves. In these settings, prompt programs are repeatedly called with different user queries or data instances. A big practical…
The similarity of graph structures, such as Meaning Representations (MRs), is often assessed via structural matching algorithms, such as Smatch (Cai and Knight, 2013). However, Smatch involves a combinatorial problem that suffers from…
Low-rank matrix approximation (LRMA) is a powerful technique for signal processing and pattern analysis. However, its potential for data compression has not yet been fully investigated in the literature. In this paper, we propose sparse…
Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…
Motivation: Seed filtering is critical in DNA read mapping, a process where billions of DNA fragments (reads) sampled from a donor are mapped onto a reference genome to identify genomic variants of the donor. Read mappers 1) quickly…
Deep neural networks (DNNs) often have to be compressed, via pruning and/or quantization, before they can be deployed in practical settings. In this work we propose a new compression-aware minimizer dubbed CrAM that modifies the…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited…
Large Language Models (LLMs) demonstrate exceptional capability across diverse tasks. However, their deployment in long-context scenarios is hindered by two challenges: computational inefficiency and redundant information. We propose RAM…
We propose smooth $q$-gram, the first variant of $q$-gram that captures $q$-gram pair within a small edit distance. We apply smooth $q$-gram to the problem of detecting overlapping pairs of error-prone reads produced by single molecule real…
Genome sequence alignment is the core of many biological applications. The advancement of sequencing technologies produces a tremendous amount of data, making sequence alignment a critical bottleneck in bioinformatics analysis. The existing…
Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…