相关论文: A Framework for Reproducible Benchmarking and Perf…

We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic and…

Flaky failure triage is crucial for keeping distributed database continuous integration (CI) efficient and reliable. After a failure is observed, operators must quickly decide whether to auto-rerun the job as likely flaky or escalate it as…

The rapid expansion of research on Large Language Model (LLM) safety and robustness has produced a fragmented and oftentimes buggy ecosystem of implementations, datasets, and evaluation methods. This fragmentation makes reproducibility and…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

There is a great diversity of clustering and community detection algorithms, which are key components of many data analysis and exploration systems. To the best of our knowledge, however, there does not exist yet any uniform benchmarking…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…

Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…

Federated learning (FL) has found numerous applications in healthcare, finance, and IoT scenarios. Many existing FL frameworks offer a range of benchmarks to evaluate the performance of FL under realistic conditions. However, the process of…

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including…

The rapid increase in remote sensing satellites has led to the emergence of distributed space-based observation systems. However, existing distributed remote sensing models often rely on centralized training, resulting in data leakage,…

The development process of high-fidelity SLAM systems depends on their validation upon reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that includes data synchronization and acquisition APIs for telemetry…

SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…

We present FLUKE (Framework for LingUistically-driven and tasK-agnostic robustness Evaluation), a framework for assessing model robustness through systematic minimal variations of test data. FLUKE introduces controlled variations across…

Automated \enquote{LLM-as-a-Judge} frameworks have become the de facto standard for scalable evaluation across natural language processing. For instance, in safety evaluation, these judges are relied upon to evaluate harmfulness in order to…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…

Since its inception in 2016, Federated Learning (FL) has been gaining tremendous popularity in the machine learning community. Several frameworks have been proposed to facilitate the development of FL algorithms, but researchers often…

Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has posed new demanding…

The limited robustness of 3D Gaussian Splatting (3DGS) to motion blur and camera noise, along with its poor real-time performance, restricts its application in robotic SLAM tasks. Upon analysis, the primary causes of these issues are the…

Supercomputers worldwide provide the necessary infrastructure for groundbreaking research. However, most supercomputers are not designed equally due to different desired figure of merit, which is derived from the computational bounds of the…