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Now showing items 21-30 of 36
Integrated robot task and motion planning in belief space
(2012-07-03)
In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution ...
Viewstamped Replication Revisited
(2012-07-23)
This paper presents an updated version of Viewstamped Replication, a replication technique that handles failures in which nodes crash. It describes how client requests are handled, how the group reorganizes when a replica ...
The Levels of Understanding framework, revised
(2012-05-31)
I discuss the "levels of understanding" framework described in Marr's Vision and propose a revised and updated version of it to capture the changes in computation and neuroscience over the last 30 years.
A Lossy, Synchronization-Free, Race-Full, But Still Acceptably Accurate Parallel Space-Subdivision Tree Construction Algorithm
(2012-02-23)
We present a new synchronization-free space-subdivision tree construction algorithm. Despite data races, this algorithm produces trees that are consistent enough for the client Barnes-Hut center of mass and force computation ...
GURLS: a Toolbox for Regularized Least Squares Learning
(MIT CSAIL, 2012-01-31)
We present GURLS, a toolbox for supervised learning based on the regularized least squares algorithm. The toolbox takes advantage of all the favorable properties of least squares and is tailored to deal in particular with ...
DSENT - A Tool Connecting Emerging Photonics with Electronics for Opto-Electronic Networks-on-Chip Modeling
(2012-02-08)
With the advent of many-core chips that place substantial demand on the NoC, photonics has been investigated as a promising alternative to electrical NoCs. While numerous opto-electronic NoCs have been proposed, their ...
A Method for Fast, High-Precision Characterization of Synthetic Biology Devices
(2012-04-07)
Engineering biological systems with predictable behavior is a foundational goal of synthetic biology. To accomplish this, it is important to accurately characterize the behavior of biological devices. Prior characterization ...
Temporally Scalable Visual SLAM using a Reduced Pose Graph
(2012-05-25)
In this paper, we demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that use keyframes, our approach continually uses new measurements ...
A Case for Fine-Grain Adaptive Cache Coherence
(2012-05-22)
As transistor density continues to grow geometrically, processor manufacturers are already able to place a hundred cores on a chip (e.g., Tilera TILE-Gx 100), with massive multicore chips on the horizon. Programmers now ...
Optimal Parametric Auctions
(2012-05-08)
We study the problem of profit maximization in auctions of one good where the buyers' valuations are drawn from independent distributions. When these distributions are known to the seller, Myerson's optimal auction is a ...