Related papers: Deep Generative Data Assimilation in Multimodal Se…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of these scenarios are time-sensitive, requiring rapid scene encoding while also…

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…

Deep visual Simultaneous Localization and Mapping (SLAM) techniques, e.g., DROID, have made significant advancements by leveraging deep visual odometry on dense flow fields. In general, they heavily rely on global visual similarity…

Denoising Score Matching with Annealed Langevin Sampling (DSM-ALS) has recently found success in generative modeling. The approach works by first training a neural network to estimate the score of a distribution, and then using Langevin…

Downscaling is a landmark task in climate science and meteorology in which the goal is to use coarse scale, spatio-temporal data to infer values at finer scales. Statistical downscaling aims to approximate this task using statistical…

We develop a new efficient methodology for Bayesian global sensitivity analysis for large-scale multivariate data. The focus is on computationally demanding models with correlated variables. A multivariate Gaussian process is used as a…

Score-based generative models (SGMs) are a popular family of deep generative models that achieve leading image generation quality. Early studies extend SGMs to tackle class-conditional generation by coupling an unconditional SGM with the…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Climate models are essential to understand and project climate change, yet long-standing biases and uncertainties in their projections remain. This is largely associated with the representation of subgrid-scale processes, particularly…

Data assimilation (DA) aims to estimate the full state of a dynamical system by combining partial and noisy observations with a prior model forecast, commonly referred to as the background. In atmospheric applications, this problem is…

Simultaneous Localization and Mapping (SLAM) is a critical task that enables autonomous vehicles to construct maps and localize themselves in unknown environments. Recent breakthroughs combine SLAM with 3D Gaussian Splatting (3DGS) to…

Data assimilation is the process of estimating the state of a dynamical system over time by combining model predictions with measurements. This task becomes challenging when the system is nonlinear and high-dimensional. To address this,…

As the role played by statistical and computational sciences in climate and environmental modelling and prediction becomes more important, Machine Learning researchers are becoming more aware of the relevance of their work to help tackle…

Data assimilation provides algorithms for widespread applications in various fields. It is of practical use to deal with a large amount of information in the complex system that is hard to estimate. Weather forecasting is one of the…

With the rapid evolution of synthetic media, Image Manipulation Localization (IML) has emerged as a critical component in multimedia forensics for ensuring the integrity of digital content. However, generalization remains a core challenge,…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

Recent studies have revealed that, beyond conventional accuracy, calibration should also be considered for training modern deep neural networks. To address miscalibration during learning, some methods have explored different penalty…