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Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Beam management is an important technique to improve signal strength and reduce interference in wireless communication systems. Recently, there has been increasing interest in using diverse sensing modalities for beam management. However,…

We propose a deep network that can be trained to tackle image reconstruction and classification problems that involve detection of multiple object instances, without any supervision regarding their whereabouts. The network learns to extract…

Multi-step theorem prediction is a central challenge in automated reasoning. Existing neural-symbolic approaches rely heavily on supervised parametric models, which exhibit limited generalization to evolving theorem libraries. In this work,…

Existing industrial anomaly detection methods primarily concentrate on unsupervised learning with pristine RGB images. Yet, both RGB and 3D data are crucial for anomaly detection, and the datasets are seldom completely clean in practical…

We present NetReduce, a novel RDMA-compatible in-network reduction architecture to accelerate distributed DNN training. Compared to existing designs, NetReduce maintains a reliable connection between end-hosts in the Ethernet and does not…

This paper presents MIS-LSTM, a hybrid framework that joins CNN encoders with an LSTM sequence model for sleep quality and stress prediction at the day level from multimodal lifelog data. Continuous sensor streams are first partitioned into…

Vision-language models (VLMs) could power real-time assistants and autonomous agents, but they face a critical challenge: understanding near-infinite video streams without escalating latency and memory usage. Processing entire videos with…

As large language models (LLMs) have shown great success in many tasks, they are used in various applications. While a lot of works have focused on the efficiency of single-LLM application (e.g., offloading, request scheduling, parallelism…

Machine learning (ML) is increasingly being deployed in programmable data planes (switches and SmartNICs) to enable real-time traffic analysis, security monitoring, and in-network decision-making. Decision trees (DTs) are particularly…

3D lookup tables (3D LUTs) are a key component for image enhancement. Modern image signal processors (ISPs) have dedicated support for these as part of the camera rendering pipeline. Cameras typically provide multiple options for picture…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDAR-Inertial SLAM system has poor performance in loop closure.…

LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as rain, snow, and fog, where weather-induced noise and point…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…

RAPID-LLM is a unified performance modeling framework for large language model (LLM) training and inference on GPU clusters. It couples a DeepFlow-based frontend that generates hardware-aware, operator-level Chakra execution traces from an…

Software requirements traceability is a critical component of the software engineering process, enabling activities such as requirements validation, compliance verification, and safety assurance. However, the cost and effort of manually…

The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…