We use decision trees to convey this reasoning information, as they can be easily represented in natural language, effectively providing knowledge from prior experiments ( i.e., the impact of the generated features on performance) to

We present a novel compression algorithm for reducing the storage of LiDAR sensor data streams.

In tabular prediction tasks, tree-based models combined with automated feature engineering methods often outperform deep learning approaches that rely on learned representations. While these feature engineering techniques are effective, they typically depend on a pre-defined search space and primarily use validation scores for feature selection, thereby missing valuable insights from previous experiments.To address these limitations, we propose a novel tabular learning framework that utilizes large language models (LLMs), termed Optimizing Column feature generator with decision Tree reasoning (OCTree). Our key idea is to leverage the reasoning capabilities of LLMs to identify effective feature generation rules without manually specifying the search space and provide language-based reasoning information highlighting past experiments as feedback for iterative rule improvements. We use decision trees to convey this reasoning information, as they can be easily represented in natural language, effectively providing knowledge from prior experiments (i.e., the impact of the generated features on performance) to the LLMs. Our empirical results demonstrate that OCTree consistently enhances the performance of various prediction models across diverse benchmarks, outperforming competing automated feature engineering methods.

We use decision trees to convey this reasoning information, as they can be easily represented in natural language, effectively providing knowledge from prior experiments ( i.e., the impact of the generated features on performance) to

Abstract-- Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been significant interest in developing higher fidelity simulation of marine sensors, physics, and visual rendering capabilities to support autonomous marine robot development and validation. HoloOcean 2.0, the next major release of HoloOcean, brings state-of-the-art features under a general marine simulator capable of supporting a variety of tasks. New features in HoloOcean 2.0 include migration to Unreal Engine (UE) 5.3, advanced vehicle dynamics using models from Fossen, and support for ROS2 using a custom bridge. Additional features are currently in development, including significantly more efficient ray tracing-based sidescan, forward-looking, and bathymetric sonar implementations; semantic sensors; environment generation tools; volumetric environmental effects; and realistic waves. Marine robotics simulators have supported research and development for autonomous underwater and surface vessels for several decades.

We present a novel compression algorithm for reducing the storage of LiDAR sensor data streams.

In tabular prediction tasks, tree-based models combined with automated feature engineering methods often outperform deep learning approaches that rely on learned representations. While these feature engineering techniques are effective, they typically depend on a pre-defined search space and primarily use validation scores for feature selection, thereby missing valuable insights from previous experiments.To address these limitations, we propose a novel tabular learning framework that utilizes large language models (LLMs), termed Optimizing Column feature generator with decision Tree reasoning (OCTree). Our key idea is to leverage the reasoning capabilities of LLMs to identify effective feature generation rules without manually specifying the search space and provide language-based reasoning information highlighting past experiments as feedback for iterative rule improvements. We use decision trees to convey this reasoning information, as they can be easily represented in natural language, effectively providing knowledge from prior experiments (i.e., the impact of the generated features on performance) to the LLMs. Our empirical results demonstrate that OCTree consistently enhances the performance of various prediction models across diverse benchmarks, outperforming competing automated feature engineering methods.

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these issues, we introduce ZeroGrasp, a novel framework that simultaneously performs 3D reconstruction and grasp pose prediction in near real-time. A key insight of our method is that occlusion reasoning and modeling the spatial relationships between objects is beneficial for both accurate reconstruction and grasping. We couple our method with a novel large-scale synthetic dataset, which comprises 1M photo-realistic images, high-resolution 3D reconstructions and 11.3B physically-valid grasp pose annotations for 12K objects from the Objaverse-LVIS dataset. We evaluate ZeroGrasp on the GraspNet-1B benchmark as well as through real-world robot experiments. ZeroGrasp achieves state-of-the-art performance and generalizes to novel real-world objects by leveraging synthetic data.

Learning effective representations from raw data is crucial for the success of deep learning methods. However, in the tabular domain, practitioners often prefer augmenting raw column features over using learned representations, as conventional tree-based algorithms frequently outperform competing approaches. As a result, feature engineering methods that automatically generate candidate features have been widely used. While these approaches are often effective, there remains ambiguity in defining the space over which to search for candidate features. Moreover, they often rely solely on validation scores to select good features, neglecting valuable feedback from past experiments that could inform the planning of future experiments. To address the shortcomings, we propose a new tabular learning framework based on large language models (LLMs), coined Optimizing Column feature generator with decision Tree reasoning (OCTree). Our key idea is to leverage LLMs' reasoning capabilities to find good feature generation rules without manually specifying the search space and provide language-based reasoning information highlighting past experiments as feedback for iterative rule improvements. Here, we choose a decision tree as reasoning as it can be interpreted in natural language, effectively conveying knowledge of past experiments (i.e., the prediction models trained with the generated features) to the LLM. Our empirical results demonstrate that this simple framework consistently enhances the performance of various prediction models across diverse tabular benchmarks, outperforming competing automatic feature engineering methods.

Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the surface. Due to the voxel representation or involving with time-consuming sampling, they have difficulty in balancing speed, memory storage, and surface quality. In this paper, we propose a novel hybrid voxel-octree approach to effectively fuse octree with voxel structures so that we can take advantage of both implicit surface and explicit triangular mesh representation. Such sparse structure preserves triangular faces in the leaf nodes and produces partial meshes sequentially for incremental reconstruction. This storage scheme allows us to naturally optimize the mesh in explicit 3D space to achieve higher surface quality. We iteratively deform the mesh towards the target and recovers vertex colors by optimizing a shading model. Experimental results on several datasets show that our proposed approach is capable of quickly and accurately reconstructing a scene with realistic colors.