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While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
We consider the problem of laying out a tree with fixed parent/child structure in hierarchical memory. The goal is to minimize the expected number of block transfers performed during a search along a root-to-leaf path, subject to a given…
Benefiting from the great success of deep learning in computer vision, CNN-based object detection methods have drawn significant attentions. Various frameworks have been proposed which show awesome and robust performance for a large range…
The emerging orthogonal time frequency space (OTFS) modulation technique has shown its superiority to the current orthogonal frequency division multiplexing (OFDM) scheme, in terms of its capabilities of exploiting full time-frequency…
Reliability based design optimization (RBDO) problems are important in engineering applications, but it is challenging to solve such problems. In this study, a new resolution method based on the directional Bat Algorithm (dBA) is presented.…
Extracting bounds on BSM operators at hadron colliders can be a highly non-trivial task. It can be useful or, depending on the complexity of the event structure, even essential to employ modern analysis techniques in order to measure…
We develop and analyze algorithms for distributionally robust optimization (DRO) of convex losses. In particular, we consider group-structured and bounded $f$-divergence uncertainty sets. Our approach relies on an accelerated method that…
Bayesian optimization (BO) is an efficient framework for optimizing expensive black-box functions. However, it is typically formulated as learning an end-to-end mapping from inputs to scalar objectives, thereby discarding the potentially…
Online bilevel optimization (OBO) is a powerful framework for machine learning problems where both outer and inner objectives evolve over time, requiring dynamic updates. Current OBO approaches rely on deterministic \textit{window-smoothed}…
Rotated bounding boxes drastically reduce output ambiguity of elongated objects, making it superior to axis-aligned bounding boxes. Despite the effectiveness, rotated detectors are not widely employed. Annotating rotated bounding boxes is…
Bounding volume hierarchies are ubiquitous acceleration structures in graphics, scientific computing, and data analytics. Their performance depends critically on data layout choices that affect cache utilization, memory bandwidth, and…
Embedding tree-like data, from hierarchies to ontologies and taxonomies, forms a well-studied problem for representing knowledge across many domains. Hyperbolic geometry provides a natural solution for embedding trees, with vastly superior…
Computation of bounding boxes is a fundamental problem in high performance rendering, as it is an input to visibility culling and binning operations. In a scene description structured as a tree, clip nodes and blend nodes entail…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
Long-term location tracking, where trajectory compression is commonly used, has gained high interest for many applications in transport, ecology, and wearable computing. However, state-of-the-art compression methods involve high space-time…
In this paper, we first consider the subpath convex hull query problem: Given a simple path $\pi$ of $n$ vertices, preprocess it so that the convex hull of any query subpath of $\pi$ can be quickly obtained. Previously, Guibas, Hershberger,…
Tree embedding has been a fundamental method in algorithm design with wide applications. We focus on the efficiency of building tree embedding in various computational settings under high-dimensional Euclidean $\mathbb{R}^d$. We devise a…
Two-stage deep object detectors generate a set of regions-of-interest (RoI) in the first stage, then, in the second stage, identify objects among the proposed RoIs that sufficiently overlap with a ground truth (GT) box. The second stage is…
In this paper, we consider non-convex multi-block bilevel optimization (MBBO) problems, which involve $m\gg 1$ lower level problems and have important applications in machine learning. Designing a stochastic gradient and controlling its…