arXiv:2609.23974v1 Announce Type: new Abstract: Foundation models are endowing autonomous systems with greater intelligence, enabling a more comprehensive understanding of the environment through vis...
arXiv:2608. 14586v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models are becoming a promising paradigm for autonomous driving, but their deployment on existing vehicle platforms remains difficult because they introduce both high inference latency and strong GPU-side resource pressure.
Foundation models are endowing autonomous systems with greater intelligence, enabling a more comprehensive understanding of the environment through visual perception. A representative example is Human...
arXiv:2506. 07069v2 Announce Type: replace-cross Abstract: 3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, combining high-quality reconstruction with efficient rendering.
FALCON is a camera‑based 3D occupancy front‑end built on the AMD Kria KR260 FPGA that provides explicit latency guarantees for autonomous driving perception. The system uses cycle‑bounded programmable‑logic compute, a measured inference envelope over 100k frames, and a watchdog to flag stale outputs, achieving all 300k proxy frames within a 100 ms deadline plus at most 10.2 ms. On the full FlashOcc pipeline the board attains 29.88 mIoU on the Occ3D‑nuScenes set, matching 92.8 % of an FP32 baseline, while maintaining tighter tail latency than competing Jetson Orin and datacenter GPUs.
arXiv:2607. 17842v1 Announce Type: cross Abstract: Recent breakthroughs in 3D Gaussian Splatting (3DGS) have advanced neural rendering with high fidelity and speed.
The paper introduces Hardware‑aware Calibrated Clustered Attention (BC attention) to speed up the global attention layers of the Visual Geometry Grounded Transformer (VGGT) used for 3D scene reconstruction. By clustering queries within hardware‑friendly neighborhood blocks and adding hashing hyperplane calibration plus threshold‑based error compensation, BC attention reduces computation and memory traffic, enabling it to handle long sequences with practical latency gains on GPUs. Experiments show that calibrated BC attention accelerates global attention by 2.10–2.63× and the entire backbone by 1.77–2.35×, with only a 1% loss in accuracy, and achieves up to 2.87× latency improvement with less than 5% performance drop.
LiteViLNet is a lightweight RGB‑geometry fusion network for road segmentation that uses a MobileNetV3 RGB encoder and a tiny depth‑wise‑separable geometry encoder. Its multi‑scale fusion module enhances modality‑specific features, performs cross‑modal interaction, and applies adaptive gating, while a depth‑wise large‑kernel bridge expands contextual support with minimal overhead. The U‑Net‑style decoder is trained with deep supervision, achieving state‑of‑the‑art performance on KITTI and ORFD benchmarks and running at up to 68.73 FPS on a Jetson Orin NX with TensorRT FP16.
The paper presents memory‑efficient GPU pipelines that accelerate real‑time non‑line‑of‑sight (NLOS) reconstruction. By redesigning two wave‑based algorithms—f‑k migration and phasor‑fields—with fused kernels, warp‑level photon binning, batched transforms, CUDA graph replay, and selective FP16 storage, the authors achieve up to 42× speed‑ups over a reference streaming pipeline and 14× over the fastest published GPU baseline while reducing memory usage to as little as 2.5%. The work also includes an ablation study of implementation choices and introduces three denoising strategies that leverage the increased frame budget for future NLOS video processing.
arXiv:2609.06157v1 Announce Type: cross Abstract: 3D Gaussian splatting (3DGS) represents scenes with explicit primitives and supports real-time novel-view synthesis, yet its system efficiency varies...
arXiv:2606. 31938v1 Announce Type: cross Abstract: Deploying Vision Transformer (ViT) models on edge platforms remains challenging due to their high computational demands and the architectural heterogeneity of modern hybrid ViT models, which incorporate both fully connected and convolutional layers.
The paper introduces BEVPIPE, a framework that enables deployment of bird's-eye-view (BEV) perception models—used in autonomous driving to fuse camera and LiDAR data—on portable GPU compute APIs. By partitioning the model into dense subgraphs managed by standard inference runtimes and handling sparse 3D convolutions and geometric scatter operations through external extensions, BEVPIPE achieves a 19.5× speedup while preserving 98.5% of the reference mean average precision. The approach also demonstrates portability across different GPU backends, breaking the current reliance on CUDA-only, PyTorch‑coupled sparse convolution libraries.