Tong Li

Zhijian Qiao, Zehuan Yu, Tong Li et al.

Crowdsourcing enables scalable autonomous driving map construction, but low-cost sensor noise hinders quality from improving with data volume. We propose CSMapping, a system that produces accurate semantic maps and topological road centerlines whose quality consistently increases with more crowdsourced data. For semantic mapping, we train a latent diffusion model on HD maps (optionally conditioned on SD maps) to learn a generative prior of real-world map structure, without requiring paired crowdsourced/HD-map supervision. This prior is incorporated via constrained MAP optimization in latent space, ensuring robustness to severe noise and plausible completion in unobserved areas. Initialization uses a robust vectorized mapping module followed by diffusion inversion; optimization employs efficient Gaussian-basis reparameterization, projected gradient descent zobracket multi-start, and latent-space factor-graph for global consistency. For topological mapping, we apply confidence-weighted k-medoids clustering and kinematic refinement to trajectories, yielding smooth, human-like centerlines robust to trajectory variation. Experiments on nuScenes, Argoverse 2, and a large proprietary dataset achieve state-of-the-art semantic and topological mapping performance, with thorough ablation and scalability studies.

Yizhong Liu, Jianwei Liu, Marcos Antonio Vaz Salles et al.

Sharding is the prevalent approach to breaking the trilemma of simultaneously achieving decentralization, security, and scalability in traditional blockchain systems, which are implemented as replicated state machines relying on atomic broadcast for consensus on an immutable chain of valid transactions. Sharding is to be understood broadly as techniques for dynamically partitioning nodes in a blockchain system into subsets (shards) that perform storage, communication, and computation tasks without fine-grained synchronization with each other. Despite much recent research on sharding blockchains, much remains to be explored in the design space of these systems. Towards that aim, we conduct a systematic analysis of existing sharding blockchain systems and derive a conceptual decomposition of their architecture into functional components and the underlying assumptions about system models and attackers they are built on. The functional components identified are node selection, epoch randomness, node assignment, intra-shard consensus, cross-shard transaction processing, shard reconfiguration, and motivation mechanism. We describe interfaces, functionality, and properties of each component and show how they compose into a sharding blockchain system. For each component, we systematically review existing approaches, identify potential and open problems, and propose future research directions. We focus on potential security attacks and performance problems, including system throughput and latency concerns such as confirmation delays. We believe our modular architectural decomposition and in-depth analysis of each component, based on a comprehensive literature study, provides a systematic basis for conceptualizing state-of-the-art sharding blockchain systems, proving or improving security and performance properties of components, and developing new sharding blockchain system designs.