Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: miniSAM: A Flexible Factor Graph Non-linear Least Squares Optimization
  Framework
19
The categories of this paper are: eess
17
The categories of this paper are: q-fin
36
The categories of this paper are: cmp-lg
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
13
The categories of this paper are: quant-ph
27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat
22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int
32
The categories of this paper are: atom-ph
15
The categories of this paper are: nucl-ex
31
The categories of this paper are: ao-sci
14
The categories of this paper are: math-ph
9
The categories of this paper are: nlin
21
The categories of this paper are: adap-org