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Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel grids composed of free, occupied and unknown voxels. In this…
Probabilistic breadth-first traversals (BPTs) are used in many network science and graph machine learning applications. In this paper, we are motivated by the application of BPTs in stochastic diffusion-based graph problems such as…
Dynamic graph random walk (DGRW) emerges as a practical tool for capturing structural relations within a graph. Effectively executing DGRW on GPU presents certain challenges. First, existing sampling methods demand a pre-processing buffer,…
Radio propagation modeling is essential in telecommunication research, as radio channels result from complex interactions with environmental objects. Recently, Machine Learning has been attracting attention as a potential alternative to…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
The performance of particle advection-based flow visualization techniques is complex, since computational work can vary based on many factors, including number of particles, duration, and mesh type. Further, while many approaches have been…
Graph drawing with spring embedders employs a V x V computation phase over the graph's vertex set to compute repulsive forces. Here, the efficacy of forces diminishes with distance: a vertex can effectively only influence other vertices in…
Particle filtering is a recursive Bayesian estimation technique that has gained popularity recently for tracking and localization applications. It uses Monte Carlo simulation and has proven to be a very reliable technique to model…
We present WebSplatter, an end-to-end GPU rendering pipeline for the heterogeneous web ecosystem. Unlike naive ports, WebSplatter introduces a wait-free hierarchical radix sort that circumvents the lack of global atomics in WebGPU, ensuring…
High Performance Computing (HPC) platforms allow scientists to model computationally intensive algorithms. HPC clusters increasingly use General-Purpose Graphics Processing Units (GPGPUs) as accelerators; FPGAs provide an attractive…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
Parameter-Efficient Fine-Tuning (PEFT) has emerged as a key strategy for adapting large-scale pre-trained models to downstream tasks, but existing approaches face notable limitations. Addition-based methods, such as Adapters, introduce…
This paper presents a novel architecture for point cloud road user detection, which is based on a classical point cloud proposal generator approach, that utilizes simple geometrical rules. New methods are coupled with this technique to…
Over the lifetime of a computing task, determining the maximum usage of random-access memory (RAM) on both the motherboard and on a graphical processing unit (GPU), as well as the utilization percentage of the central processing unit (CPU)…
We propose a memory efficient method, named Stochastic Backpropagation (SBP), for training deep neural networks on videos. It is based on the finding that gradients from incomplete execution for backpropagation can still effectively train…
In this paper, we introduce a novel approach for autonomous driving trajectory generation by harnessing the complementary strengths of diffusion probabilistic models (a.k.a., diffusion models) and transformers. Our proposed framework,…
Visible-modal object tracking gives rise to a series of downstream multi-modal tracking tributaries. To inherit the powerful representations of the foundation model, a natural modus operandi for multi-modal tracking is full fine-tuning on…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
Real-time global illumination is key to enabling more dynamic and physically realistic worlds in performance-critical applications such as games or any other applications with real-time constraints.Hardware-accelerated ray tracing in modern…