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August 26, 2025With a novel parallel-computing architecture, a CAD-to-USD pipeline, and the use of OpenUSD as ground truth, a new simulator can explore hundreds of sensor configurations in the time it takes to test just a few physical setups.
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2024This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging SE(3)-equivariant features for direct feature space registration. A novel RKHS distance metric is proposed, offering reliable performance amidst noise, outliers, and asymmetrical
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2024Large Language Models (LLMs) frequently hallucinate, impeding their reliability in mission-critical situations. One approach to address this issue is to provide citations to relevant sources alongside generated content, enhancing the verifiability of generations. However, citing passages accurately in answers remains a substantial challenge. This paper proposes a weakly-supervised fine-tuning method leveraging
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VLDB 20242024Database research and development is heavily influenced by benchmarks, such as the industry-standard TPC-H and TPC-DS for analytical systems. However, these twenty-year-old benchmarks neither capture how databases are deployed nor what workloads modern cloud data warehouse systems face these days. In this paper, we summarize well-known, confirm suspected, and unearth novel discrepancies between TPC-H/DS
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2024Pre-trained vision-language models (VLMs) have enabled significant progress in open vocabulary computer vision tasks such as image classification, object detection and image segmentation. Some recent works have focused on extending VLMs to open vocabulary single label action classification in videos. However, previous methods fall short in holistic video understanding which requires the ability to simultaneously
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2024Graphs are a fundamental data structure used to represent relation-ships in domains as diverse as the social sciences, bioinformatics, cybersecurity, the Internet, and more. One of the central observations in network science is that real-world graphs are globally sparse, yet contains numerous “pockets" of high edge density. A fundamental task in graph mining is to discover these dense sub-graphs. Most common
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