Sign in

Benjamin Lefaudeux 🇺🇦

@bentheegg.bsky.social
442 followers 928 following 268 posts

Back to France after some time in sunny California and happy Copenhagen. Mistral, Photoroom, Meta (xformers, FairScale, R&D), EyeTribe (acq) Mostly writing around AI

PostsRepliesMedia
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 31/08/2025
Limits of vector search a new GDM paper shows that embeddings can’t represent combinations of concepts well e.g. Dave likes blue trucks AND Ford trucks even k=2 sub-predicates make SOTA embedding models fall apart www.alphaxiv.org/pdf/2508.21038
alphaxiv.org
On the Theoretical Limitations of Embedding-Based Retrieval | alphaXiv
View recent discussion. Abstract: Vector embeddings have been tasked with an ever-increasing set of retrieval tasks over the years, with a nascent rise in using them for reasoning, instruction-followi...
28322
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 31/08/2025
Longcat-Flash-Chat (560B) uh, holy shit this one is intriguing. bare minimum they compare themselves to all the (actual) top models and do okay but inside.. damn this one has some cool ideas huggingface.co/meituan-long...
The image is a multi-panel bar chart comparing performance of different large language models across several benchmarks. It is divided into four categories: General Domains, Agentic Tool Use, Code, and Instruction Following. Each panel has bars representing model results, with scores on the y-axis.

Top row – General Domains:
	•	ArenaHard-V2: LongGPT-Flash leads with 86.5, followed by Kimi K2 (88.2), DeepSeek V3.1 (84.1), Claude Sonnet (61.5), GPT-4.1 (62.1), Qwen3.5 MoE-2507 (85.7), and Gemini 2.5 Flash (77.0).
	•	MMLU-Pro: Best scores are Kimi K2 (84.5) and DeepSeek V3.1 (84.5), with LongGPT-Flash (82.7), Qwen3.5 MoE-2507 (82.1), GPT-4.1 (81.7), Claude Sonnet (83.7), Gemini 2.5 Flash (82.0).

Top row – Agentic Tool Use:
	•	t2-Bench (average): LongGPT-Flash leads (67.7), Kimi K2 (64.2), Claude Sonnet (62.1), GPT-4.1 (55.1), DeepSeek V3.1 (49.8), Qwen3.5 MoE-2507 (43.0), Gemini 2.5 Flash (40.9).
	•	VitaBench: LongGPT-Flash 24.3, Claude Sonnet 23.0, DeepSeek V3.1 20.3, Kimi K2 18.2, GPT-4.1 19.0, Qwen3.5 MoE-2507 8.5, Gemini 2.5 Flash 8.0.

Bottom row – Code:
	•	SWE-Bench-Verified: Claude Sonnet leads with 68.0, Kimi K2 64.6, DeepSeek V3.1 66.0, LongGPT-Flash 60.4, GPT-4.1 48.6, Qwen3.5 MoE-2507 42.0, Gemini 2.5 Flash 40.6.
	•	TerminalBench: Claude Sonnet 40.7, LongGPT-Flash 39.5, DeepSeek V3.1 31.3, GPT-4.1 28.4, Kimi K2 25.9, Qwen3.5 MoE-2507 17.3, Gemini 2.5 Flash 12.4.

Bottom row – Instruction Following:
	•	COLLIE: LongGPT-Flash 57.1, Kimi K2 56.3, Claude Sonnet 51.2, GPT-4.1 50.0, DeepSeek V3.1 49.7, Gemini 2.5 Flash 48.6, Qwen3.5 MoE-2507 43.8.
	•	Meeseeks (ZH): LongGPT-Flash 43.0, Kimi K2 42.8, Claude Sonnet 41.5, GPT-4.1 35.1, DeepSeek V3.1 35.3, Qwen3.5 MoE-2507 33.8, Gemini 2.5 Flash 34.8.
2485
Reposted by Benjamin Lefaudeux 🇺🇦
Ted Underwood @tedunderwood.com · 27/07/2025
In 2012 when I had to clean data it seemed natural to look for rules I could use to clean it. Now it seems natural to model the noise, find new clean data it can destroy, and then train a model to reverse the process. Machine learning makes you a sicko.
1434
Reposted by Benjamin Lefaudeux 🇺🇦
Ethan Mollick @emollick.bsky.social · 26/07/2025
Three things to note about this: 1) AI has obvious utility to many, this is a tremendous amount of use already 2) There is room for multiple frontier model providers, at least for now 3) Any losses from subsidizing cost of AI use (and it is not clear this is happening) are now relatively small
3673
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 26/07/2025
"The Serial Scaling Hypothesis" (arxiv.org/abs/2507.125..., Liu et al) is interesting I think, not as new as it completely looks (autoregressive models are used serially, models have depth,..) but feels like a good formalization and intuition as of where current GPT based LLMs will typically fail
1101
Reposted by Benjamin Lefaudeux 🇺🇦
Andrei Bursuc @abursuc.bsky.social · 21/07/2025
1/ Can open-data models beat DINOv2? Today we release Franca, a fully open-sourced vision foundation model. Franca with ViT-G backbone matches (and often beats) proprietary models like SigLIPv2, CLIP, DINOv2 on various benchmarks setting a new standard for open-source research.
28622
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 18/07/2025
In the coming age of agents, I think vibe coding will die out, same lasting power as prompt engineering. For things LLMs excell at, you might as well stick to higher level directives and let it own the work, Claude Code is a good example. 1/2
341
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 13/07/2025
this is probably why Meta was able to poach OpenAI ppl aside from the absolute piles of cash, Sama is very SV-minded and can’t imagine building apart from a product a lot of accelerationists see things differently, more broadly, and ids dissatisfying to be forced into a product box
2102
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 13/07/2025
Still not a lot of ML talk on bsky (at least in my feed), hence paper Sunday: my two most interesting recent reads - H Nets arxiv.org/abs/2507.07955 - Energy Based Transformers arxiv.org/abs/2507.02092
arxiv.org
Dynamic Chunking for End-to-End Hierarchical Sequence Modeling
Despite incredible progress in language models (LMs) in recent years, largely resulting from moving away from specialized models designed for specific tasks to general models based on powerful archite...
56915
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 12/07/2025
Little bit of personal news, shared in other circles already: I'm moving to Mistral in August, after three years at Photoroom. I'm really proud of what we built in the ML team with relatively limited means, lasting SOTA on the existing foundations (saliency segmentation) while growing a lot on genAI
250
Reposted by Benjamin Lefaudeux 🇺🇦
Vision and Graphics Trends @si-cv-graphics.bsky.social · 07/07/2025
𝗗𝗲𝗽𝘁𝗵 𝗔𝗻𝘆𝘁𝗵𝗶𝗻𝗴 𝗮𝘁 𝗔𝗻𝘆 𝗖𝗼𝗻𝗱𝗶𝘁𝗶𝗼𝗻 Boyuan Sun, Modi Jin, Bowen Yin, Qibin Hou arxiv.org/abs/2507.01634 Trending on www.scholar-inbox.com
011
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 07/07/2025
kyutai open sources its TTS model as well as Unmute, a framework for building audio AI apps notable: - high accuracy - actually streaming (can use streaming text input) - serves 32 simultaneous users on a single GPU - voice cloning - supports all 24 official EU languages kyutai.org/next/tts
kyutai.org
A text-to-speech optimized for real-time usage.
2182
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 29/06/2025
Alex Nichol is one the rare many-hits researchers of the field, with on top of that a track record of practical models which affect the public/ship. That Meta wouldn't target him is pretty rich
010
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 24/06/2025
Automatically generate a fused megakernel in triton.. diving in, but if it works half as well as it reads it would already be quite something. Aligns with torch.compile of course github.com/mirage-proje...
github.com
GitHub - mirage-project/mirage: Mirage: Automatically Generating Fast GPU Kernels without Programming in Triton/CUDA
Mirage: Automatically Generating Fast GPU Kernels without Programming in Triton/CUDA - mirage-project/mirage
120
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 23/06/2025
Sharing that Photoroom open sourced _Dataroom_, as promised some time ago. Accompanying blog post and mini thread github.com/photoroom/da... www.photoroom.com/inside-photo... 1/N
photoroom.com
Photoroom Visual Ads Automation & GenerateBanners Acquisition
Photoroom launches Visual Ads Automation, a GenAI API turning product catalogs into branded ad creatives; GenerateBanners acquisition adds text automation.
100
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 19/06/2025
Still haven't tried Cursor, but I recently moved from Github Copilot to Continue with Codestral (free API), and it's absurd how much better Continue with Codestral is (vs. Copilot with expensive and slow models). Made me realize that there is zero moat in this field, at least for Copilot.
410
Reposted by Benjamin Lefaudeux 🇺🇦
Drew Breunig @dbreunig.bsky.social · 16/06/2025
In the last 2 weeks: - Slack locked down its messages data. - X locked down its post data. - Anthropic cut off OpenAI's Windsurf. - Google will stop using Scale. The dream of unfettered MCP interconnects is a mirage. www.dbreunig.com/2025/06/16/d...
dbreunig.com
The Drawbridges Go Up
The AI era is speedrunning the Web 2.0 story. Open and accessible MCPs are not our future. Integrations will be tightly governed.
001
Reposted by Benjamin Lefaudeux 🇺🇦
Hadley Wickham @hadley.nz · 14/06/2025
While framed as a critique of Apple’s recent paper, I found this article mostly interesting because it made me think about reasoning in general: mikecaulfield.substack.com/p/the-apple-...
mikecaulfield.substack.com
The Apple "Reasoning Collapse" Paper Is Even Dumber Than You Think
We're this far into reasoners and neither hypesters nor skeptics really understand their significance. Also: Read Toulmin.
4485
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 14/06/2025
Self adapting language models, still early but fascinating prospects. There's a dimensionality curse of course: since the dimensions the LLM can touch per generated token are very small as such, needs a massive lever / dimension reduction to be able to self improve. arxiv.org/pdf/2506.10943
110
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 12/06/2025
Great write up of AMD new offerings, catching the nvidia train on the software side it seems. 3x speedup on MI300X since release, was required but still great to grab morethanmoore.substack.com/p/amds-ai-fu...
morethanmoore.substack.com
AMD's AI Future is Rack Scale 'Helios'
Key Announcements from AMD Advancing AI 2025
000
Reposted by Benjamin Lefaudeux 🇺🇦
Alex Nichol @unixpickle.bsky.social · 06/06/2025
Got nerdsniped into printing this a little while ago.
071
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 04/06/2025
datago now available with webdataset compatibility (streaming tarballs, so you get the data as it arrives). Just pip install datago and give it a whirl if you'd like ? Speed without the dataloader processes, and typical ViT/DiT pre-processing baked in. example code here github.com/Photoroom/da...
github.com
datago/python/benchmark_webdataset.py at main · Photoroom/datago
A Rust-based data loader which can be used from Python. Processing data per sample at GB/s speeds, covering various use cases eventually. - Photoroom/datago
130
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 31/05/2025
Great link with bsky.app/profile/dbre...
000
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 29/05/2025
SageAttention3 paper reads great, and looks like B200s just got a good value boost. QAT or PTQ-free use of FP4, I expected this to be much more complicated or come later to be honest. Only at the attention level and LLMs are most often MLP bottlenecked but stil arxiv.org/abs/2505.11594
arxiv.org
SageAttention3: Microscaling FP4 Attention for Inference and An Exploration of 8-Bit Training
The efficiency of attention is important due to its quadratic time complexity. We enhance the efficiency of attention through two key contributions: First, we leverage the new FP4 Tensor Cores in Blac...
000
Reposted by Benjamin Lefaudeux 🇺🇦
Anton Obukhov @obukhov.ai · 15/05/2025
Big Marigold update! Last year, we showed how to turn Stable Diffusion 2 into a SOTA depth estimator with a few synthetic samples and 2–3 days on just 1 GPU. Today's release features: 🏎️ 1-step inference 🔢 New modalities 🫣 High resolution 🧨 Diffusers support 🕹️ New demos 🧶👇
1448
Reposted by Benjamin Lefaudeux 🇺🇦
Kosta Derpanis @csprofkgd.bsky.social · 14/05/2025
0162
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 11/05/2025
Striking in retrospect how some leaders position at the time of the first atomic bomb (“other countries won’t get it”), Truman for instance, then space age, then now AI age, rhyme. Same as before, I think a bunch of places are bound to be SOTA AI, ideas and progress cannot be pinned to a wall
000
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 10/05/2025
Apple readying in house server grade AI processors feels quite bizarre to me: Apple Intelligence has been underwhelming so far, so current status is probably far from end game. But lowering the code now into hardware limits future flexibility, bad timing ? www.tomshardware.com/pc-component...
tomshardware.com
Apple reportedly readies Baltra processors for AI servers
Apple's working with Broadcom on Baltra.
100
Reposted by Benjamin Lefaudeux 🇺🇦
Jun-Yan Zhu @junyanz.bsky.social · 10/05/2025
[1/2] We've released the code for LegoGPT. Our autoregressive model generates physically stable and buildable designs from text prompts by integrating physics laws and assembly constraints into LLM training and inference. Code: github.com/AvaLovelace1... Website: avalovelace1.github.io/LegoGPT/
47024
Reposted by Benjamin Lefaudeux 🇺🇦
Clément Canonne @ccanonne.github.io · 06/05/2025
Some men just want to watch the world burn.
A Jupyter notebook, with the first line being "import numpy as plt"
4382
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 03/05/2025
Now (early) supporting webdataset. Draft PR, but runs and ok speed which seems competitive with the webdataset python lib (no extra python process here) github.com/Photoroom/da...
github.com
[WIP] Webdataset support by blefaudeux · Pull Request #111 · Photoroom/datago
cc @photoroman for early visibility missing: stream decode the tarballs, right now will be really bad if the shards are big (>60s download) multithread bit of a mess, could just use tokio more ...
000
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 02/05/2025
It’s been a couple of years, but I’m still looking forward to these evals somehow
010
Reposted by Benjamin Lefaudeux 🇺🇦
Simon Willison @simonwillison.net · 29/04/2025
Qwen 3 offers a case study in how to effectively release a model simonwillison.net/2025/Apr/29/...
simonwillison.net
Qwen 3 offers a case study in how to effectively release a model
Alibaba’s Qwen team released the hotly anticipated Qwen 3 model family today. The Qwen models are already some of the best open weight models—Apache 2.0 licensed and with a variety …
56912
Reposted by Benjamin Lefaudeux 🇺🇦
Glenn K. Lockwood @glennklockwood.com · 29/04/2025
161
Reposted by Benjamin Lefaudeux 🇺🇦
Andreas Geiger @andreasgeiger.bsky.social · 29/04/2025
🚗🌆 We introduce EVolSplat — a feed-forward 3D Gaussian Splatting model that enables real-time, photorealistic rendering without per-scene optimization. Trained on KITTI-360 & Waymo, it sets a new SOTA for autonomous driving applications. #CVPR25. Paper & Code: xdimlab.github.io/EVolSplat/
1245
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 28/04/2025
Test time compute is there, clearly, with small models outperforming bigger ones (not just thanks to this, but counts). qianwen-res.oss-accelerate.aliyuncs.com/assets/blog/...
020
Reposted by Benjamin Lefaudeux 🇺🇦
Andreas Geiger @andreasgeiger.bsky.social · 28/04/2025
🔥 Prometheus: 3D-Aware Latent Diffusion for Feed-Forward Text-to-3D Scene Generation. Allows object- and scene-level generation from text in seconds. freemty.github.io/project-prom...
0103
Reposted by Benjamin Lefaudeux 🇺🇦
François Fleuret @francois.fleuret.org · 28/04/2025
I asked "on the other platform" what were the most important improvements to the original 2017 transformer. That was quite popular and here is a synthesis of the responses:
420643
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 27/04/2025
Some progress in my side project of a rust written webdataset python dataloader (flavor of datago). Proof of concept running, but I’m not actually all that familiar with webdataset: anybody to warn me about gotchas from this file format ?
100
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 06/04/2025
huge 1T+ models are fascinating bc they’re like tree rings. they take so long to train that several evolutions of LLM architecture happen during the process in this case, DeepSeek in January was unignorable, but Behemoth was likely too deep into training to change course. hence scout & maverick
xjdr (@_xjdr)
Hmmm …
Maverick is DeepSeek shaped
Behemoth is GPT4 / Opus shaped

I wonder why?
2335
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 25/04/2025
Really cool idea and implementation, model compression via huffman coding, fast enough to be used live ! Side note is that there are probably model arch questions stemming from the initial redundancy / weights, would be even better if it was not there to begin with arxiv.org/abs/2504.11651
arxiv.org
70% Size, 100% Accuracy: Lossless LLM Compression for Efficient GPU Inference via Dynamic-Length Float
Large Language Models (LLMs) have grown rapidly in size, creating significant challenges for efficient deployment on resource-constrained hardware. In this paper, we introduce Dynamic-Length Float (DF...
210
Reposted by Benjamin Lefaudeux 🇺🇦
Ethan Mollick @emollick.bsky.social · 17/04/2025
The geoguessing power of o3 is a really good sample of its agentic abilities. Between its smart guessing and its ability to zoom into images, to do web searches, and read text, the results can be very freaky. I stripped location info from the photo & prompted “geoguess this”
416620
Reposted by Benjamin Lefaudeux 🇺🇦
mr. TIM @timkellogg.me · 12/04/2025
TransMamba: Auto switch between transformer and mamba architectures It uses state space modeling (SSM) to decide between two successful AI architectures, based on token position. Unfortunately DOGE banned it last week arxiv.org/abs/2503.24067
This image illustrates the architecture and scheduling of TransMamba, a neural network model that integrates attention and state space models (SSMs) through a unified module. It includes three subfigures:

⸻

(a) The TransMamba Architecture:
This block diagram shows the core structure:
	•	Inputs pass into an Embedding layer labeled “TransPoint”.
	•	The embedding splits into two branches:
	•	One path feeds into Attention after a QKV computation, then into a Memory Converter.
	•	The second path goes into SSM after passing through Embeds₂.
	•	The SSM receives initial hidden state h₀, generated by the Memory Converter.
	•	The SSM block involves operations with parameters Δ, A, Z and weight matrices Wₐ, W_z, with intermediate computations like CBₓ.
	•	Outputs from both paths are concatenated, followed by Norm & Feed Forward layers (repeated N times).
	•	Final output passes through a Linear layer to produce model outputs.

⸻

(b) Memory Converter Module:
A close-up of the memory initialization:
	•	Uses previous hidden state h[-1] to compute h₀.
	•	Includes MatMul, Multiply, and variables Δ, A, K, V as components.

⸻

(c) TransPoint Scheduling Diagram:
	•	Shows scheduling strategy over layers and sequence length.
	•	Alternating vertical bars represent:
	•	Blue: Attention
	•	Green: SSM
	•	Orange: Memory Converter (only at TransPoint)
	•	Memory conversion happens early, followed by layer-wise computation with both attention and SSM.

⸻

The diagram is stylized with a robotic snake motif, aligning with the “Mamba” naming theme. This visual layout emphasizes TransMamba’s hybrid design combining attention and SSMs with efficient memory initialization and scheduling.
2183
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 10/04/2025
All you wanted to know about Ironwood/TPU v7p Chip + interconnect look pretty strong indeed www.nextplatform.com/2025/04/09/w...
nextplatform.com
With “Ironwood” TPU, Google Pushes The AI Accelerator To The Floor
If you want to be a leading in supplying AI models and AI applications, as well as AI infrastructure to run it, to the world, it is also helpful to have a
010
Reposted by Benjamin Lefaudeux 🇺🇦
Ethan Mollick @emollick.bsky.social · 10/04/2025
Less than two years ago, Google's LLM (then named Bard, now Gemini) was... not good, as you can see in this example from May, 2023. Now, as you can also see, it is much better. Quite a turnaround for a large company that seemed to be struggling with the challenge of shipping LLMs.
61027
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 10/04/2025
Interesting write up from the HFT Guy on a recent stream of conda related lawsuits, the Intel conclusion is quite something thehftguy.com/2025/04/07/a...
thehftguy.com
Anaconda Inc has entered litigation against non-paying user of Anaconda: Alibaba, Intel, Dell, Airbus
TL;DR:  1) You should be aware that the Anaconda ecosystem is no longer free to use and 2) Anaconda Inc has started aggressively pursuing companies and 3) This is the start of some of what may beco…
000
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 07/04/2025
Multi Token Attention, another great fundamental paper from FAIR arxiv.org/abs/2504.00927 It focuses on the fact that the attention is single shot, token to token, and softmax will put the emphasis on, well, the maxima or maximum. MTA makes it possible to accumulate "hints" over multiple tokens
arxiv.org
Multi-Token Attention
Soft attention is a critical mechanism powering LLMs to locate relevant parts within a given context. However, individual attention weights are determined by the similarity of only a single query and ...
120
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 05/04/2025
Interesting bit, I cannot make complete sense of it but curious to learn more. Really non obvious, nice that Meta reported out and ablations will be a learning
000
Benjamin Lefaudeux 🇺🇦 @bentheegg.bsky.social · 05/04/2025
MoE is becoming the norm but it really took a while when compared to other changes in the field. RLHF, reasoning, synthetic, arch tweaks were all ubiquitous within months, Switch is from 2021 arxiv.org/abs/2101.03961 Scout and Maverick seem very impressive here
arxiv.org
Switch Transformers: Scaling to Trillion Parameter Models with Simple and Efficient Sparsity
In deep learning, models typically reuse the same parameters for all inputs. Mixture of Experts (MoE) defies this and instead selects different parameters for each incoming example. The result is a sparsely-activated model -- with outrageous numbers of parameters -- but a constant computational cost. However, despite several notable successes of MoE, widespread adoption has been hindered by complexity, communication costs and training instability -- we address these with the Switch Transformer. We simplify the MoE routing algorithm and design intuitive improved models with reduced communication and computational costs. Our proposed training techniques help wrangle the instabilities and we show large sparse models may be trained, for the first time, with lower precision (bfloat16) formats. We design models based off T5-Base and T5-Large to obtain up to 7x increases in pre-training speed with the same computational resources. These improvements extend into multilingual settings where we measure gains over the mT5-Base version across all 101 languages. Finally, we advance the current scale of language models by pre-training up to trillion parameter models on the "Colossal Clean Crawled Corpus" and achieve a 4x speedup over the T5-XXL model.
031
Reposted by Benjamin Lefaudeux 🇺🇦
Frank Dellaert @fdellaert.bsky.social · 31/03/2025
Part 2 of SLAM handbook is out for public comments! let us know what you think :-) Issue tracker on GitHub awaits! Link: github.com/SLAM-Handboo...
04911