Publications

High-definition (HD) maps provide essential semantic information of road structures for autonomous driving systems, yet current HD map construction methods require calibrated multi-camera setups and either implicit or explicit 2D-to-BEV transformations, making them fragile when sensors fail or camera configurations vary across vehicle fleets. We introduce FlexMap, unlike prior methods that are fixed to a specific N-camera rig, our approach adapts to variable camera configurations without any architectural changes or per-configuration retraining. Our key innovation eliminates explicit geometric projections by using a geometry-aware foundation model with cross-frame attention to implicitly encode 3D scene understanding in feature space. FlexMap features two core components: a spatial-temporal enhancement module that separates cross-view spatial reasoning from temporal dynamics, and a camera-aware decoder with latent camera tokens, enabling view-adaptive attention without the need for projection matrices. Experiments demonstrate that FlexMap outperforms existing methods across multiple configurations while maintaining robustness to missing views and sensor variations, enabling more practical real-world deployment.

When mobile apps are used extensively in our daily lives, their responsiveness has become an important factor that can negatively impact the user experience. The long response time of a mobile app can be caused by a variety of reasons, including soft hang bugs or prolonged user interface APIs (UIAPIs). While hang bugs have been researched extensively before, our investigation on UI-APIs in today's mobile OS finds that the recursive construction of UI view hierarchy often can be time-consuming, due to the complexity of today's UI views. To accelerate UI processing, such complex views can be preprocessed and cached before the user even visits them. However, pre-caching every view in a mobile app is infeasible due to the incurred overheads on time, energy, and cache space. In this paper, we propose MAPP, a framework for Mobile App Predictive Pre-caching. MAPP has two main modules, 1) UI view prediction based on deep learning and 2) UI-API pre-caching, which coordinate to improve the responsiveness of mobile apps. MAPP adopts a per-user and per-app prediction model that is tailored based on the analysis of collected user traces, such as location, time, or the sequence of previously visited views. A dynamic feature ranking and model selection algorithm is designed to judiciously filter out less relevant features for improving the prediction accuracy with less computation overhead. MAPP is evaluated with 61 real-world traces from 18 volunteers over 30 days to show that it can shorten the response time of mobile apps by 59.84 % on average with an average cache hit rate of 92.55 %.