Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present a two-stage deep neural network (MVLidarNet) for multi-class object detection and drivable segmentation using multiple views of a single LiDAR point cloud. The first stage processes the point cloud projected onto a perspective view in order to semantically segment the scene.

Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually provide reduced degrees of control. Herein, a low-cost, vision based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand.

This article consists of a collection of slides from the author's conference presentation on NVIDIA's GeForce 8800 GPU. Some of the specific topics discussed include: an overview of the GeForce 8800 architecture; streaming processor array and processing capabilities; the Raster Operation Pipeline; and GeForce implementation, deployment, and performance evaluation.

Efficiently rendering direct lighting from millions of dynamic light sources using Monte Carlo integration remains a challenging problem, even for off-line rendering systems. We introduce a new algorithm—ReSTIR—that renders such lighting interactively, at high quality, and without needing to maintain complex data structures. We repeatedly resample a set of candidate light samples and apply further spatial and temporal resampling to leverage information from relevant nearby samples.

We introduce AtacWorks (https://github.com/clara-genomics/AtacWorks), a method to denoise and identify accessible chromatin regions from low-coverage or low-quality ATAC-seq data. AtacWorks uses a deep neural network to learn a mapping between noisy ATAC-seq data and corresponding higher-coverage or higher-quality data.

Variant calling, the problem of estimating whether a position in a DNA sequence differs from a reference sequence, given noisy, redundant, overlapping short sequences that cover that position, is fundamental to genomics. We propose a deep averaging network designed specifically for variant calling. Our model takes into account the independence of each short input read sequence by transforming individual reads through a series of convolutional layers, limiting the communication between individual reads to averaging and concatenating operations.

Registration is a fundamental task in medical image analysis which can be applied to several tasks including image segmentation, intra-operative tracking, multi-modal image alignment, and motion analysis. Popular registration tools such as ANTs and NiftyReg optimize an objective function for each pair of images from scratch which is time-consuming for large images with complicated deformation. Facilitated by the rapid progress of deep learning, learning-based approaches such as VoxelMorph have been emerging for image registration.