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We describe an assembly of numerical tools to model the output data of the Planck satellite. These start with the generation of a CMB sky in a chosen cosmology, add in various foreground sources, convolve the sky signal with arbitrary, even…
Visual instruction tuning adapts pre-trained Multimodal Large Language Models (MLLMs) to follow human instructions for real-world applications. However, the rapid growth of these datasets introduces significant redundancy, leading to…
Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable…
Real time computer control is an essential feature of scanning probe microscopes, which have become essential tools for the characterization and investigation of nanometer scale samples. Most commercial (and some open-source) scanning probe…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sensing or reliable pose tracking to handle complex interaction…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
Generating high-quality images without prompt engineering expertise remains a challenge for text-to-image (T2I) models, which often misinterpret poorly structured prompts, leading to distortions and misalignments. While humans easily…
Sensing human motions through Inertial Measurement Units (IMUs) embedded in personal devices has enabled significant applications in health and wellness. Labeled IMU data is scarce, however, unlabeled or weakly labeled IMU data can be used…
Machine learning continues to grow in popularity in academia, in industry, and is increasingly used in other fields. However, most of the common metrics used to evaluate even simple binary classification models have shortcomings that are…
While modern text-to-image (T2I) models excel at generating images from intricate prompts, they struggle to capture the key details when the inputs are descriptive paragraphs. This limitation stems from the prevalence of concise captions…
Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are…
Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
In addressing the Department of Energy's April, 2022 announcement of a Bold Decadal Vision for delivering a Fusion Pilot Plant by 2035, associated software tools need to be developed for the integration of real world engineering and supply…
The operation of instruments and detectors in laboratory or beamline environments presents a complex challenge, requiring stable operation of multiple concurrent devices, often controlled by separate hardware and software solutions. These…
While self-supervised pretraining has reduced vision systems' reliance on synthetic data, simulation remains an indispensable tool for closed-loop optimization and rigorous out-of-distribution (OOD) evaluation. However, modern simulation…
Supervised deep learning models for automated CTG analysis are typically constrained by narrowly curated labelled datasets and limited patient cohorts, leaving substantial volumes of physiologically informative clinical recordings untapped.…