LiDAR odometry is a critical component of SLAM in autonomous driving and robotics. Learning-based methods have shown remarkable performance by regressing relative poses in an end-to-end manner. However, when applying these trained models, originally developed on the widely used KITTI dataset, to other scenes, performance often drops significantly. In other words, existing methods struggle to generalize well to new environments. To address this challenge, we propose RCP-LO, a simple yet effective LiDAR odometry framework. We introduce a novel representation for relative poses, reformulating them as relative coordinates, which can then be solved using geometrical verification. This approach avoids overly simplified pose representations and makes better use of scene geometry, thereby improving generalization. Moreover, to capture the inherent uncertainties in relative pose estimation from occluded LiDAR point clouds from dynamic environments, we adapt our framework to learn a denoising diffusion model, allowing for sampling plausible relative coordinates while improving robustness. We also introduce a differentiable geometric weighted singular value decomposition module, enabling efficient pose estimation through a single forward pass. Extensive experiments demonstrate that RCP-LO, trained exclusively on the KITTI dataset, achieves competitive performance compared to SOTA learning-based methods and generalizes effectively to the KITTI-360, Ford, and Oxford datasets.

The deployment of Mixture-of-Experts (MoE) models on production high-bandwidth superpods, such as NVIDIA's NVL72/576 and Huawei's CloudMatrix384, introduces critical challenges beyond raw interconnect bandwidth. While these systems provide unified global address spaces and high-bandwidth fabrics, their full potential for sparse MoE communication is hindered by three fundamental bottlenecks: (1) Strict execution serialization imposed by coarse-grained Bulk Synchronous Parallel (BSP) orchestration of interdependent communication phases; (2) Prohibitive synchronization overhead that fails to scale alongside high interconnect bandwidth; and (3) Severe load imbalance resulting from distance-agnostic scheduling of irregular token traffic. To eliminate these bottlenecks, we introduce UBEP (Unified-Bus Expert Parallelism), a production-ready communication library that rethinks MoE's All-to-All primitives for modern superpod architectures. Through large-scale experiments, UBEP reduces All-to-All latency by up to 52.4% and MoE inference Time Per Output Token (TPOT) by up to 11.1%.

Point cloud regression localization technology has a wide range of applications in the multimedia field. For example, in virtual reality and augmented reality, accurate point cloud localization can significantly enhance the user experience. Recently, point cloud pose regression algorithms based on APR (Absolute Pose Regression) and SCR (Scene Coordinate Regression) have achieved near sub-meter accuracy, requiring multiple repetitive trajectories for training. The key to their success lies in the diversity of viewpoints, temporal changes, and trajectories, which is resource-consuming. However, due to the errors in GPS/INS, the coupling between trajectories is not ideal, and the stability of re-localization is insufficient. Since LiDAR has covered most of the scene, single-shot localization has the potential to approach or even surpass multi-trajectory localization methods through pose enhancement. Specifically, we present Pose Enhancement Localization (PELoc), which feeds one trajectory, proposing SSDA (Single-shot Data Augmentation) and LTI (LiDAR Trajectories-coupled Interpolation) to simulate different driving poses, and we introduce KP-CL (Key Points Contrastive Learning) through feature perturbation to mitigate the differences in viewpoint/temporal phase transformations in similar scenes across different trajectories. Our algorithm has been tested on the Oxford, QE-Oxford, and NCLT datasets, where single-shot localization accuracy can approach near sub-meter level on QE-Oxford and NCLT. The code will be published in https://github.com/Eaton2022/PELoc.

Absolute pose regression (APR) estimates global pose in an end-to-end manner, achieving impressive results in learn-based LiDAR localization. However, compared to the top-performing methods reliant on 3D-3D correspondence matching, APR's accuracy still has room for improvement. We recognize APR's lack of robust features learning and iterative denoising process leads to suboptimal results. In this paper, we propose DiffLoc, a novel framework that formulates LiDAR localization as a conditional generation of poses. First, we propose to utilize the foundation model and static-object-aware pool to learn robust features. Second, we incorporate the iterative denoising process into APR via a diffusion model conditioned on the learned geometrically robust features. In addition, due to the unique nature of diffusion models, we propose to adapt our models to two additional applications: (1) using multiple inferences to evaluate pose uncertainty, and (2) seamlessly introducing geometric constraints on denoising steps to improve prediction accuracy. Extensive experiments conducted on the Oxford Radar RobotCar and NCLT datasets demonstrate that DiffLoc outperforms better than the state-of-the-art methods. Especially on the NCLT dataset, we achieve 35% and 34.7% improvement on position and orientation accuracy, respectively. Our code is released at https://github.com/liw95/DiffLoc.