相关论文: CHAMP: A Configurable, Hot-Swappable Edge Architec…
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…
A key hurdle is demonstrating compute resource capability with limited benchmarks. We propose workflow templates as a solution, offering adaptable designs for specific scientific applications. Our paper identifies common usage patterns for…
This white paper, developed through close collaboration between IBM Research and UIUC researchers within the IIDAI Institute, envisions transforming hybrid cloud systems to meet the growing complexity of AI workloads through innovative,…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…
Non-rigid 3D mesh matching is a critical step in computer vision and computer graphics pipelines. We tackle matching meshes that contain topological artefacts which can break the assumption made by current approaches. While Functional Maps…
As Moore's Law loses momentum, improving size, performance, and efficiency of processors has become increasingly challenging, ending the era of predictable improvements in hardware performance. Meanwhile, the widespread incorporation of…
Scientific experimentation and manufacturing rely on prolonged protocol development and complex, multi-step implementation, which require continuous human expertise for precise execution and decision-making, limiting interpretability and…
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…
High intensive computation applications can usually take days to months to finish an execution. During this time, it is common to have variations of the available resources when considering that such hardware is usually shared among a…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
Processing-in-memory (PIM) architectures bring computation closer to data, reducing the processor-memory transfer bottleneck in traditional processor-centric designs. Novel hardware solutions, such as UPMEM's in-memory processing…
The comprehension and adoption of Artificial Intelligence (AI) are beset with practical and ethical problems. This article presents a 5-level AI Capability Assessment Model (AI-CAM) and a related AI Capabilities Matrix (AI-CM) to assist…
Modern physics experiments often utilize FPGA-based systems for real-time data acquisition. Integrated analog electronics demand for complex calibration routines. Furthermore, versatile configuration and control of the whole system is a key…
Increasing the level of automation in pharmaceutical laboratories and production facilities plays a crucial role in delivering medicine to patients. However, the particular requirements of this field make it challenging to adapt…
Compute-in-memory (CiM) is a promising approach to improving the computing speed and energy efficiency in dataintensive applications. Beyond existing CiM techniques of bitwise logic-in-memory operations and dot product operations, this…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…
Several approaches are proposed to deal with the problem of the Automatic Schema Matching (ASM). The challenges and difficulties caused by the complexity and uncertainty characterizing both the process and the outcome of Schema Matching…
The next generation of Adaptive Optics (AO) systems on large telescopes will require immense computation performance and memory bandwidth, both of which are challenging with the technology available today. The objective of this work is to…