Trending Research
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
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
NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem.
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
Towards Efficient and Reliable LLM Serving: A Real-World Workload Study
Based on this, we have developed a benchmark suite that reflects our dataset's workload patterns, enabling performance evaluation of serving systems.
Distributed, Parallel, and Cluster Computing Performance
GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints
When IMU and LiDAR are mounted on a ground robot the motion of which is restricted to planar motion, existing calibration methods are likely to exhibit degraded performance.
Robotics
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
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
The first contribution of this paper is to propose a task-driven 3D scene understanding problem, where the robot is given a list of tasks in natural language and has to select the granularity and the subset of objects and scene structure to retain in its map that is sufficient to complete the tasks.
Robotics
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
