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09/11/2023
STAR-loc: Dataset for STereo And Range-based localization
This document contains a detailed description of the STAR-loc dataset. F...
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09/02/2023
RenAIssance: A Survey into AI Text-to-Image Generation in the Era of Large Model
Text-to-image generation (TTI) refers to the usage of models that could ...
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08/23/2023
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
We present novel, tight, convex relaxations for rotation and pose estima...
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08/14/2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
In recent years, there has been remarkable progress in the development o...
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08/10/2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
In recent years, semidefinite relaxations of common optimization problem...
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08/02/2023
DeepSpeed-Chat: Easy, Fast and Affordable RLHF Training of ChatGPT-like Models at All Scales
ChatGPT-like models have revolutionized various applications in artifici...
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06/16/2023
ZeRO++: Extremely Efficient Collective Communication for Giant Model Training
Zero Redundancy Optimizer (ZeRO) has been used to train a wide range of ...
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01/08/2023
Towards Open World NeRF-Based SLAM
Neural Radiance Fields (NeRFs) have taken the machine vision and robotic...
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11/17/2022
Random-LTD: Random and Layerwise Token Dropping Brings Efficient Training for Large-scale Transformers
Large-scale transformer models have become the de-facto architectures fo...
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09/09/2022
Safe and Smooth: Certified Continuous-Time Range-Only Localization
A common approach to localize a mobile robot is by measuring distances t...
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06/26/2022
An Efficient Global Optimality Certificate for Landmark-Based SLAM
Modern state estimation is often formulated as an optimization problem a...
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06/10/2022
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization
This note uses the Total Least-Squares (TLS) line-fitting problem as a c...
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11/28/2019
