Lingpeng Chen

Lingpeng Chen, Jiakun Tang, Apple Pui-Yi Chui et al. · apple-ml

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is crippled by inherent elevation ambiguity and low resolution. Consequently, prior fusion technique relies on heuristics and flawed geometric assumptions, leading to significant artifacts and an inability to model complex scenes. In this paper, we introduce SonarSweep, a novel, end-to-end deep learning framework that overcomes these limitations by adapting the principled plane sweep algorithm for cross-modal fusion between sonar and visual data. Extensive experiments in both high-fidelity simulation and real-world environments demonstrate that SonarSweep consistently generates dense and accurate depth maps, significantly outperforming state-of-the-art methods across challenging conditions, particularly in high turbidity. To foster further research, we will publicly release our code and a novel dataset featuring synchronized stereo-camera and sonar data, the first of its kind.

Guangyang Zeng, Yulong Gao, Yuan Shen et al.

In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment guarantee, rely on restrictive modeling assumptions, or focus only on pose estimation rather than a complete SLAM pipeline. This paper presents provably guaranteed UQ algorithms for 3D-3D landmark-based SLAM. The algorithms consist of three basic UQ modules: forward UQ for mapping, backward UQ for pose tracking, and pose compound. Each module produces a certified uncertainty set; when the input uncertainty bounds are deterministic, the output sets inherit deterministic guarantees, i.e., they provably contain the true poses and landmarks. Specifically, we use polytopes to represent uncertainty sets, enabling tractable computations and a unified treatment of pose uncertainty. To enhance algorithms' practical usability, we incorporate conformal prediction to calibrate measurement uncertainty from data with prescribed probability. Simulations and experiments demonstrate that the proposed algorithms provide both strong theoretical guarantees and practical usability. The code is open-sourced at https://github.com/LIAS-CUHKSZ/Polytopic-SLAM-Uncertainty-Quantification.

Fangyue Liu, Hua Liu, Xinyuan Lyu et al.

LLM inference powers latency-critical production services nowadays. The bursty nature of inference traffic results in over-provisioning, which in turn leads to resource underutilization. While online-offline colocation promises to utilize idle capacity, broad production deployment must overcome two major challenges: (i) large online interference due to slow or frequent preemptions, and (ii) extensive frameworks and drivers modifications, to colocate different models and support preemptions. We present Valve, a production-friendly colocation system that jointly bounds preemption latency and preemption rate. Specifically, Valve enables sub-millisecond compute preemption at most once per online request, and rate-limited sub-layer memory reclamation. These guaranties are provided by a GPU runtime that combines channel-controlled compute isolation, page-fault-free memory reclamation, and dynamic memory reservation. Critically, Valve is practical to deploy, requiring one line of driver modification and 20 lines of framework patch. Deployed on 8,054 GPUs in production, Valve improves cluster utilization by 34.6%, which translates to a 2,170 GPU save. This efficiency gains is achieved with minimal online interference, incurring <5% TTFT increase and <2% TPOT increase across workloads.