Related papers: Comparing Rapid Type Analysis with Points-To Analy…
While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems online remains computationally demanding. Existing…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…
In computer vision, Visual Prompting (VP) and Visual Prompt Tuning (VPT) have recently emerged as lightweight and effective alternatives to full fine-tuning for adapting large-scale vision models within the "pretrain-then-finetune"…
Many real-world optimization problems are not naturally homogeneous vectors but composite design objects with heterogeneous parameters: integers, real values, Booleans, categoricals, complex-valued descriptors, and embedding vectors.…
Vision transformers have recently made a breakthrough in computer vision showing excellent performance in terms of precision for numerous applications. However, their computational cost is very high compared to alternative approaches such…
We present a new tool, GPA, that can generate key performance measures for very large systems. Based on solving systems of ordinary differential equations (ODEs), this method of performance analysis is far more scalable than stochastic…
Test-time adaptation (TTA) of Vision-Language Models (VLMs) has emerged as a technique for tackling distribution shifts during the test time. Recent research indicates that the test-time adaptation is intrinsically linked to the model's…
While Transformer architecture excel at modeling long-range dependencies contributing to its widespread adoption in vision tasks the quadratic complexity of softmax-based attention mechanisms imposes a major bottleneck, particularly when…
The zero-shot capabilities of Vision-Language Models (VLMs) have been widely leveraged to improve predictive performance. However, previous works on transductive or test-time adaptation (TTA) often make strong assumptions about the data…
Pretrained vision-language models (VLMs) like CLIP show strong zero-shot performance but struggle with generalization under distribution shifts. Test-Time Adaptation (TTA) addresses this by adapting VLMs to unlabeled test data in new…
Vision Transformers (ViTs) partition input images into uniformly sized patches regardless of their content, resulting in long input sequence lengths for high-resolution images. We present Adaptive Patch Transformers (APT), which addresses…
Previous studies such as VizWiz find that Visual Question Answering (VQA) systems that can read and reason about text in images are useful in application areas such as assisting visually-impaired people. TextVQA is a VQA dataset geared…
This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…
Recent advancements in QA with LLM, like GPT-4, have shown limitations in handling complex multi-hop queries. We propose AT-RAG, a novel multistep RAG incorporating topic modeling for efficient document retrieval and reasoning. Using…
We develop an automated pipeline to streamline neural architecture codesign for fast, real-time Bragg peak analysis in high-energy diffraction microscopy. Traditional approaches, notably pseudo-Voigt fitting, demand significant…
Vision-and-language pre-training (VLP) models have experienced a surge in popularity recently. By fine-tuning them on specific datasets, significant performance improvements have been observed in various tasks. However, full fine-tuning of…
This paper proposes a novel online evaluation protocol for Test Time Adaptation (TTA) methods, which penalizes slower methods by providing them with fewer samples for adaptation. TTA methods leverage unlabeled data at test time to adapt to…
Visual Place Recognition (VPR) has evolved from handcrafted descriptors to deep learning approaches, yet significant challenges remain. Current approaches, including Vision Foundation Models (VFMs) and Multimodal Large Language Models…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…
In this contribution, we introduce a multilevel approximation method with T-splines for fitting scattered point clouds iteratively, with an application to land remote sensing. This new procedure provides a local surface approximation by an…