RP-SLAM: Real-time Photorealistic SLAM with Efficient 3D Gaussian Splatting

3D Gaussian Splatting has emerged as a promising technique for high-quality 3D rendering, leading to increasing interest in integrating 3DGS into realism SLAM systems. However, existing methods face challenges such as Gaussian primitives redundancy, forgetting problem during continuous optimization, and difficulty in initializing primitives in monocular case due to lack of depth information. In order to achieve efficient and photorealistic mapping, we propose RP-SLAM, a 3D Gaussian splatting-based vision SLAM method for monocular and RGB-D cameras. RP-SLAM decouples camera poses estimation from Gaussian primitives optimization and consists of three key components. Firstly, we propose an efficient incremental mapping approach to achieve a compact and accurate representation of the scene through adaptive sampling and Gaussian primitives filtering. Secondly, a dynamic window optimization method is proposed to mitigate the forgetting problem and improve map consistency. Finally, for the monocular case, a monocular keyframe initialization method based on sparse point cloud is proposed to improve the initialization accuracy of Gaussian primitives, which provides a geometric basis for subsequent optimization. The results of numerous experiments demonstrate that RP-SLAM achieves state-of-the-art map rendering accuracy while ensuring real-time performance and model compactness.

Query Performance Explanation through Large Language Model for HTAP Systems

In hybrid transactional and analytical processing (HTAP) systems, users often struggle to understand why query plans from one engine (OLAP or OLTP) perform significantly slower than those from another. Although optimizers provide plan details via the EXPLAIN function, these explanations are frequently too technical for non-experts and offer limited insights into performance differences across engines. To address this, we propose a novel framework that leverages large language models (LLMs) to explain query performance in HTAP systems. Built on Retrieval-Augmented Generation (RAG), our framework constructs a knowledge base that stores historical query executions and expert-curated explanations. To enable efficient retrieval of relevant knowledge, query plans are embedded using a lightweight tree-CNN classifier. This augmentation allows the LLM to generate clear, context-aware explanations of performance differences between engines. Our approach demonstrates the potential of LLMs in hybrid engine systems, paving the way for further advancements in database optimization and user support.

PSELDNets: Pre-trained Neural Networks on Large-scale Synthetic Datasets for Sound Event Localization and Detection

Sound event localization and detection (SELD) has seen substantial advancements through learning-based methods. These systems, typically trained from scratch on specific datasets, have shown considerable generalization capabilities. Recently, deep neural networks trained on large-scale datasets have achieved remarkable success in the sound event classification (SEC) field, prompting an open question of whether these advancements can be extended to develop general-purpose SELD models. In this paper, leveraging the power of pre-trained SEC models, we propose pre-trained SELD networks (PSELDNets) on large-scale synthetic datasets. These synthetic datasets, generated by convolving sound events with simulated spatial room impulse responses (SRIRs), contain 1,167 hours of audio clips with an ontology of 170 sound classes. These PSELDNets are transferred to downstream SELD tasks. When we adapt PSELDNets to specific scenarios, particularly in low-resource data cases, we introduce a data-efficient fine-tuning method, AdapterBit. PSELDNets are evaluated on a synthetic-test-set using collected SRIRs from TAU Spatial Room Impulse Response Database (TAU-SRIR DB) and achieve satisfactory performance. We also conduct our experiments to validate the transferability of PSELDNets to three publicly available datasets and our own collected audio recordings. Results demonstrate that PSELDNets surpass state-of-the-art systems across all publicly available datasets. Given the need for direction-of-arrival estimation, SELD generally relies on sufficient multi-channel audio clips. However, incorporating the AdapterBit, PSELDNets show more efficient adaptability to various tasks using minimal multi-channel or even just monophonic audio clips, outperforming the traditional fine-tuning approaches.

Multi-Layered Safety of Redundant Robot Manipulators via Task-Oriented Planning and Control

Ensuring safety is crucial to promote the application of robot manipulators in open workspace. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these potential safety challenges on redundant robot manipulators, and propose a task-oriented planning and control framework to achieve multi-layered safety while maintaining efficient task execution. Our approach consists of two main parts: a task-oriented trajectory planner based on multiple-shooting model predictive control method, and a torque controller that allows safe and efficient collision reaction using only proprioceptive data. Through extensive simulations and real-hardware experiments, we demonstrate that the proposed framework can effectively handle uncertain static or dynamic obstacles, and perform disturbance resistance in manipulation tasks when unforeseen contacts occur. All code will be open-sourced to benefit the community.

Safety-critical Control with Control Barrier Functions: A Hierarchical Optimization Framework

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs), other constraints and nominal control design. However, the constrained optimization framework involves hyper-parameters to tradeoff different objectives and constraints, which, if not well-tuned beforehand, impact system performance and even lead to infeasibility. In this paper, we propose a hierarchical optimization framework that decomposes the multi-objective optimization problem into nested optimization sub-problems in a safety-first approach. The new framework addresses potential infeasibility on the premise of ensuring safety and performance as much as possible and applies easily in multi-certificate cases. With vivid visualization aids, we systematically analyze the advantages of our proposed method over existing QP-based ones in terms of safety, feasibility and convergence rates. Moreover, two numerical examples are provided that verify our analysis and show the superiority of our proposed method.

Data-driven topology design based on principal component analysis for 3D structural design problems

Topology optimization is a structural design methodology widely utilized to address engineering challenges. However, sensitivity-based topology optimization methods struggle to solve optimization problems characterized by strong non-linearity. Leveraging the sensitivity-free nature and high capacity of deep generative models, data-driven topology design (DDTD) methodology is considered an effective solution to this problem. Despite this, the training effectiveness of deep generative models diminishes when input size exceeds a threshold while maintaining high degrees of freedom is crucial for accurately characterizing complex structures. To resolve the conflict between the both, we propose DDTD based on principal component analysis (PCA). Its core idea is to replace the direct training of deep generative models with material distributions by using a principal component score matrix obtained from PCA computation and to obtain the generated material distributions with new features through the restoration process. We apply the proposed PCA-based DDTD to the problem of minimizing the maximum stress in 3D structural mechanics and demonstrate it can effectively address the current challenges faced by DDTD that fail to handle 3D structural design problems. Various experiments are conducted to demonstrate the effectiveness and practicability of the proposed PCA-based DDTD.

Exploring Hannan Limitation for 3D Antenna Array

Hannan Limitation successfully links the directivity characteristics of 2D arrays with the aperture gain limit, providing the radiation efficiency upper limit for large 2D planar antenna arrays. This demonstrates the inevitable radiation efficiency degradation caused by mutual coupling effects between array elements. However, this limitation is derived based on the assumption of infinitely large 2D arrays, which means that it is not an accurate law for small-size arrays. In this paper, we extend this theory and propose an estimation formula for the radiation efficiency upper limit of finite-sized 2D arrays. Furthermore, we analyze a 3D array structure consisting of two parallel 2D arrays. Specifically, we provide evaluation formulas for the mutual coupling strengths for both infinite and finite size arrays and derive the fundamental efficiency limit of 3D arrays. Moreover, based on the established gain limit of antenna arrays with fixed aperture sizes, we derive the achievable gain limit of finite size 3D arrays. Besides the performance analyses, we also investigate the spatial radiation characteristics of the considered 3D array structure, offering a feasible region for 2D phase settings under a given energy attenuation threshold. Through simulations, we demonstrate the effectiveness of our proposed theories and gain advantages of 3D arrays for better spatial coverage under various scenarios.

ChipExpert: The Open-Source Integrated-Circuit-Design-Specific Large Language Model

The field of integrated circuit (IC) design is highly specialized, presenting significant barriers to entry and research and development challenges. Although large language models (LLMs) have achieved remarkable success in various domains, existing LLMs often fail to meet the specific needs of students, engineers, and researchers. Consequently, the potential of LLMs in the IC design domain remains largely unexplored. To address these issues, we introduce ChipExpert, the first open-source, instructional LLM specifically tailored for the IC design field. ChipExpert is trained on one of the current best open-source base model (Llama-3 8B). The entire training process encompasses several key stages, including data preparation, continue pre-training, instruction-guided supervised fine-tuning, preference alignment, and evaluation. In the data preparation stage, we construct multiple high-quality custom datasets through manual selection and data synthesis techniques. In the subsequent two stages, ChipExpert acquires a vast amount of IC design knowledge and learns how to respond to user queries professionally. ChipExpert also undergoes an alignment phase, using Direct Preference Optimization, to achieve a high standard of ethical performance. Finally, to mitigate the hallucinations of ChipExpert, we have developed a Retrieval-Augmented Generation (RAG) system, based on the IC design knowledge base. We also released the first IC design benchmark ChipICD-Bench, to evaluate the capabilities of LLMs across multiple IC design sub-domains. Through comprehensive experiments conducted on this benchmark, ChipExpert demonstrated a high level of expertise in IC design knowledge Question-and-Answer tasks.

Revealing the evanescent components in Kronecker-product based codebooks: insights and implications

The orthogonal bases of discrete Fourier transform (DFT) has been recognized as the standard spatial-domain bases for Type I, Type II and enhanced Type II codewords by the 3rd Generation Partnership Project (3GPP). For uniform planar arrays, these spatial-domain bases are derived as the Kronecker product of one-dimensional DFT bases. Theoretically, each spatial basis corresponds to a beam directed towards a specific angle of departure and the set of bases represent the orthogonal beams that cover the front hemisphere of an array. While the Kronecker-product based precoding scheme facilitates the concise indexing of a codeword in the codebooks through precoding matrix indicators (PMIs) in channel state information feedback, it introduces redundant spatial beams characterized by high spatial-frequency components. This paper investigates the presence of codewords representing high spatial-frequency components within the Kronecker-product based codebooks. Through theoretical analysis and simulations, we confirm the redundancy of these codewords in MIMO communications, advocating for their removal from the codebooks to enhance system performance. Several topics relevant to the high spatial components are also involved in the discussion. Practical suggestions regarding future standard design are provided based on our theoretical analysis and simulation results.

RepoQA: Evaluating Long Context Code Understanding

Recent advances have been improving the context windows of Large Language Models (LLMs). To quantify the real long-context capabilities of LLMs, evaluators such as the popular Needle in a Haystack have been developed to test LLMs over a large chunk of raw texts. While effective, current evaluations overlook the insight of how LLMs work with long-context code, i.e., repositories. To this end, we initiate the RepoQA benchmark to evaluate LLMs on long-context code understanding. Traditional needle testers ask LLMs to directly retrieve the answer from the context without necessary deep understanding. In RepoQA, we built our initial task, namely Searching Needle Function (SNF), which exercises LLMs to search functions given their natural-language description, i.e., LLMs cannot find the desired function if they cannot understand the description and code. RepoQA is multilingual and comprehensive: it includes 500 code search tasks gathered from 50 popular repositories across 5 modern programming languages. By evaluating 26 general and code-specific LLMs on RepoQA, we show (i) there is still a small gap between the best open and proprietary models; (ii) different models are good at different languages; and (iii) models may understand code better without comments.