Sehun Park | Searcharxiv

arXiv2025

NVSim: Novel View Synthesis Simulator for Large Scale Indoor Navigation

We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D Gaussian Splatting to address visual artifacts on sparsely observed floors a common issue in robotic traversal data. We introduce Floor-Aware Gaussian Splatting to ensure a clean, navigable ground plane, and a novel mesh-free traversability checking algorithm that constructs a topological graph by directly analyzing rendered views. We demonstrate our system's ability to generate valid, large-scale navigation graphs from real-world data. A video demonstration is avilable at https://youtu.be/tTiIQt6nXC8

cs.RO↗

arXiv2025

All-rounder: A Flexible AI Accelerator with Diverse Data Format Support and Morphable Structure for Multi-DNN Processing

Recognizing the explosive increase in the use of AI-based applications, several industrial companies developed custom ASICs (e.g., Google TPU, IBM RaPiD, Intel NNP-I/NNP-T) and constructed a hyperscale cloud infrastructure with them. These ASICs perform operations of the inference or training process of AI models which are requested by users. Since the AI models have different data formats and types of operations, the ASICs need to support diverse data formats and various operation shapes. However, the previous ASIC solutions do not or less fulfill these requirements. To overcome these limitations, we first present an area-efficient multiplier, named all-in-one multiplier, that supports multiple bit-widths for both integer and floating point data types. Then, we build a MAC array equipped with these multipliers with multi-format support. In addition, the MAC array can be partitioned into multiple blocks that can be flexibly fused to support various DNN operation types. We evaluate the practical effectiveness of the proposed MAC array by making an accelerator out of it, named All-rounder. According to our evaluation, the proposed all-in-one multiplier occupies 1.49x smaller area compared to the baselines with dedicated multipliers for each data format. Then, we compare the performance and energy efficiency of the proposed All-rounder with three different accelerators showing consistent speedup and higher efficiency across various AI benchmarks from vision to LLM-based language tasks.

cs.AR↗