Trending Research
LCB-net: Long-Context Biasing for Audio-Visual Speech Recognition
alibaba-damo-academy/FunASR
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The growing prevalence of online conferences and courses presents a new challenge in improving automatic speech recognition (ASR) with enriched textual information from video slides.
Sound Multimedia Audio and Speech Processing
Empowering Robotics with Large Language Models: osmAG Map Comprehension with LLMs
In this letter, we address the problem of enabling LLMs to comprehend Area Graph, a text-based map representation, in order to enhance their applicability in the field of mobile robotics.
Robotics
Neural Concatenative Singing Voice Conversion: Rethinking Concatenation-Based Approach for One-Shot Singing Voice Conversion
thuhcsi/neucosvc
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During inference, voice conversion is performed by substituting source SSL features with their nearest counterparts from a matching pool which comprises SSL features extracted from the reference audio, while preserving raw harmonic signals and loudness from the source audio.
Sound Audio and Speech Processing
i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search
Establishing the correspondences between newly acquired points and historically accumulated data (i. e., map) through nearest neighbors search is crucial in numerous robotic applications.
Robotics
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
This optimization uses a differentiable formulation of a semantic costmap, which enables the planner to distinguish between the traversability of different terrains and accurately identify obstacles.
Robotics
Ca$^2$Lib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
Our approach exploits the planarity of the target to find correspondences between the sensors measurements, leading to features that are robust to LiDAR noise.
Robotics
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
To effectively leverage intensity as an additional modality, we present a novel feature selection scheme that detects uninformative directions in the point cloud registration and explicitly selects patches with complementary image information.
Robotics
Stream-K: Work-centric Parallel Decomposition for Dense Matrix-Matrix Multiplication on the GPU
We introduce Stream-K, a work-centric parallelization of matrix multiplication (GEMM) and related computations in dense linear algebra.
Data Structures and Algorithms Distributed, Parallel, and Cluster Computing
LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function.
Robotics
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC
Conic constraints appear in many important control applications like legged locomotion, robotic manipulation, and autonomous rocket landing.
Robotics Systems and Control Systems and Control Optimization and Control
