相关论文: The Parameter-Less Self-Organizing Map algorithm

In this paper, we present an approach to enhance and improve the current normal map rendering technique. Our algorithm is based on semi-discrete Optimal Mass Transportation (OMT) theory and has a solid theoretical base. The key difference…

This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…

Due to the growing ubiquity of unlabeled data, learning with unlabeled data is attracting increasing attention in machine learning. In this paper, we propose a novel semi-supervised kernel learning method which can seamlessly combine…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

Large language model (LLM) agents have emerged as powerful tools for complex tasks, yet their ability to adapt to individual users remains fundamentally limited. We argue this limitation stems from a critical architectural conflation:…

The landscape of applications and subroutines relying on shortest path computations continues to grow steadily. This growth is driven by the undeniable success of shortest path algorithms in theory and practice. It also introduces new…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

The development of neuromorphic hardware and modeling of biological neural networks requires algorithms with local learning rules. Artificial neural networks using local learning rules to perform principal subspace analysis (PSA) and…

Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…

Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

A fundamental problem in modern supervised learning is computing reliable conditional prediction intervals in high-dimensional settings: existing methods often rely on restrictive modelling assumptions, do not scale as predictor dimension…

Serverless computing paradigm has become more ingrained into the industry, as it offers a cheap alternative for application development and deployment. This new paradigm has also created new kinds of problems for the developer, who needs to…

Large language model (LLM) embeddings offer a promising new avenue for database query optimization. In this paper, we explore how pre-trained execution plan embeddings can guide SQL query execution without the need for additional model…

Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted sum, but this method is unable to find all possible trade-offs…

Rearranging the rows or columns of a sparse matrix using an appropriate ordering can significantly reduce fill-ins, i.e., new nonzeros introduced during matrix factorization, decreasing memory usage and runtime. However, finding an ordering…

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…

Unsupervised machine learning is one of the main techniques employed in artificial intelligence. We introduce an algorithm for quantum-assisted unsupervised data clustering using the self-organizing feature map, a type of artificial neural…