108,879 research outputs found
Deep Generative Modeling of LiDAR Data
Building models capable of generating structured output is a key challenge
for AI and robotics. While generative models have been explored on many types
of data, little work has been done on synthesizing lidar scans, which play a
key role in robot mapping and localization. In this work, we show that one can
adapt deep generative models for this task by unravelling lidar scans into a 2D
point map. Our approach can generate high quality samples, while simultaneously
learning a meaningful latent representation of the data. We demonstrate
significant improvements against state-of-the-art point cloud generation
methods. Furthermore, we propose a novel data representation that augments the
2D signal with absolute positional information. We show that this helps
robustness to noisy and imputed input; the learned model can recover the
underlying lidar scan from seemingly uninformative dataComment: Presented at IROS 201
HPC Cloud for Scientific and Business Applications: Taxonomy, Vision, and Research Challenges
High Performance Computing (HPC) clouds are becoming an alternative to
on-premise clusters for executing scientific applications and business
analytics services. Most research efforts in HPC cloud aim to understand the
cost-benefit of moving resource-intensive applications from on-premise
environments to public cloud platforms. Industry trends show hybrid
environments are the natural path to get the best of the on-premise and cloud
resources---steady (and sensitive) workloads can run on on-premise resources
and peak demand can leverage remote resources in a pay-as-you-go manner.
Nevertheless, there are plenty of questions to be answered in HPC cloud, which
range from how to extract the best performance of an unknown underlying
platform to what services are essential to make its usage easier. Moreover, the
discussion on the right pricing and contractual models to fit small and large
users is relevant for the sustainability of HPC clouds. This paper brings a
survey and taxonomy of efforts in HPC cloud and a vision on what we believe is
ahead of us, including a set of research challenges that, once tackled, can
help advance businesses and scientific discoveries. This becomes particularly
relevant due to the fast increasing wave of new HPC applications coming from
big data and artificial intelligence.Comment: 29 pages, 5 figures, Published in ACM Computing Surveys (CSUR
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FABRIC: A National-Scale Programmable Experimental Network Infrastructure
FABRIC is a unique national research infrastructure to enable cutting-edge and exploratory research at-scale in networking, cybersecurity, distributed computing and storage systems, machine learning, and science applications. It is an everywhere-programmable nationwide instrument comprised of novel extensible network elements equipped with large amounts of compute and storage, interconnected by high speed, dedicated optical links. It will connect a number of specialized testbeds for cloud research (NSF Cloud testbeds CloudLab and Chameleon), for research beyond 5G technologies (Platforms for Advanced Wireless Research or PAWR), as well as production high-performance computing facilities and science instruments to create a rich fabric for a wide variety of experimental activities
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