OpenRaiser/Intern-Atlas huggingface dataset:
Hardware/Software co-design with ADC-Less In-memory Computing Hardware for Spiking Neural Networks
Venue: arXiv cs.NE 2023
Year: 2023

Spiking Neural Networks (SNNs) are bio-plausible models that hold great potential for realizing energy-efficient implementations of sequential tasks on resource-constrained edge devices. However, commercial edge platforms based on standard GPUs are not optimized to deploy SNNs, resulting in high energy and latency. While analog In-Memory Computing (IMC) platforms can serve as energy-efficient inference engines, they are accursed by the immense energy, latency, and area requirements of high-precision ADCs (HP-ADC), overshadowing the benefits of in-memory computations. We propose a hardware/software co-design methodology to deploy SNNs into an ADC-Less IMC architecture using sense-amplifiers as 1-bit ADCs replacing conventional HP-ADCs and alleviating the above issues. Our proposed framework incurs minimal accuracy degradation by performing hardware-aware training and is able to scale beyond simple image classification tasks to more complex sequential regression tasks. Experiments on complex tasks of optical flow estimation and gesture recognition show that progressively increasing the hardware awareness during SNN training allows the model to adapt and learn the errors due to the non-idealities associated with ADC-Less IMC. Also, the proposed ADC-Less IMC offers significant energy and latency improvements, $2-7\times$ and $8.9-24.6\times$, respectively, depending on the SNN model and the workload, compared to HP-ADC IMC.
Domain Adaptive Video Semantic Segmentation via Cross-Domain Moving Object Mixing
Venue: arXiv cs.CV 2023
Year: 2023

The network trained for domain adaptation is prone to bias toward the easy-to-transfer classes. Since the ground truth label on the target domain is unavailable during training, the bias problem leads to skewed predictions, forgetting to predict hard-to-transfer classes. To address this problem, we propose Cross-domain Moving Object Mixing (CMOM) that cuts several objects, including hard-to-transfer classes, in the source domain video clip and pastes them into the target domain video clip. Unlike image-level domain adaptation, the temporal context should be maintained to mix moving objects in two different videos. Therefore, we design CMOM to mix with consecutive video frames, so that unrealistic movements are not occurring. We additionally propose Feature Alignment with Temporal Context (FATC) to enhance target domain feature discriminability. FATC exploits the robust source domain features, which are trained with ground truth labels, to learn discriminative target domain features in an unsupervised manner by filtering unreliable predictions with temporal consensus. We demonstrate the effectiveness of the proposed approaches through extensive experiments. In particular, our model reaches mIoU of 53.81% on VIPER to Cityscapes-Seq benchmark and mIoU of 56.31% on SYNTHIA-Seq to Cityscapes-Seq benchmark, surpassing the state-of-the-art methods by large margins. The code is available at: https://github.com/kyusik-cho/CMOM.
A Fuzzy-set-based Joint Distribution Adaptation Method for Regression and its Application to Online Damage Quantification for Structural Digital Twin
Venue: arXiv cs.CE 2023
Year: 2023

Online damage quantification suffers from insufficient labeled data that weakens its accuracy. In this context, adopting the domain adaptation on historical labeled data from similar structures/damages or simulated digital twin data to assist the current diagnosis task would be beneficial. However, most domain adaptation methods are designed for classification and cannot efficiently address damage quantification, a regression problem with continuous real-valued labels. This study first proposes a novel domain adaptation method, the Online Fuzzy-set-based Joint Distribution Adaptation for Regression, to address this challenge. By converting the continuous real-valued labels to fuzzy class labels via fuzzy sets, the marginal and conditional distribution discrepancy are simultaneously measured to achieve the domain adaptation for the damage quantification task. Thanks to the superiority of the proposed method, a state-of-the-art online damage quantification framework based on domain adaptation is presented. Finally, the framework has been comprehensively demonstrated with a damaged helicopter panel, in which three types of damage domain adaptations (across different damage locations, across different damage types, and from simulation to experiment) are all conducted, proving the accuracy of damage quantification can be significantly improved in a realistic environment. It is expected that the proposed approach to be applied to the fleet-level digital twin considering the individual differences.
Development and evaluation of automated localisation and reconstruction of all fruits on tomato plants in a greenhouse based on multi-view perception and 3D multi-object tracking
Venue: arXiv cs.RO 2023
Year: 2023

The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget the information, have proven to struggle in the presence of occlusions. Methods using multi-view perception, which have the potential to address some of these problems, require a world model that guides the collection, integration and extraction of information from multiple viewpoints. Furthermore, constructing a generic representation that can be applied in various environments and tasks is a difficult challenge. In this paper, a novel approach for building generic representations in occluded agro-food environments using multi-view perception and 3D multi-object tracking is introduced. The method is based on a detection algorithm that generates partial point clouds for each detected object, followed by a 3D multi-object tracking algorithm that updates the representation over time. The accuracy of the representation was evaluated in a real-world environment, where successful representation and localisation of tomatoes in tomato plants were achieved, despite high levels of occlusion, with the total count of tomatoes estimated with a maximum error of 5.08% and the tomatoes tracked with an accuracy up to 71.47%. Novel tracking metrics were introduced, demonstrating that valuable insight into the errors in localising and representing the fruits can be provided by their use. This approach presents a novel solution for building representations in occluded agro-food environments, demonstrating potential to enable robots to perform tasks effectively in these challenging environments.
Coarse-to-fine Knowledge Graph Domain Adaptation based on Distantly-supervised Iterative Training
Venue: arXiv cs.AI 2023
Year: 2023

Modern supervised learning neural network models require a large amount of manually labeled data, which makes the construction of domain-specific knowledge graphs time-consuming and labor-intensive. In parallel, although there has been much research on named entity recognition and relation extraction based on distantly supervised learning, constructing a domain-specific knowledge graph from large collections of textual data without manual annotations is still an urgent problem to be solved. In response, we propose an integrated framework for adapting and re-learning knowledge graphs from one coarse domain (biomedical) to a finer-define domain (oncology). In this framework, we apply distant-supervision on cross-domain knowledge graph adaptation. Consequently, no manual data annotation is required to train the model. We introduce a novel iterative training strategy to facilitate the discovery of domain-specific named entities and triples. Experimental results indicate that the proposed framework can perform domain adaptation and construction of knowledge graph efficiently.
Towards Green Metaverse Networking Technologies, Advancements and Future Directions
Venue: arXiv cs.NI 2023
Year: 2023

As the Metaverse is iteratively being defined, its potential to unleash the next wave of digital disruption and create real-life value becomes increasingly clear. With distinctive features of immersive experience, simultaneous interactivity, and user agency, the Metaverse has the capability to transform all walks of life. However, the enabling technologies of the Metaverse, i.e., digital twin, artificial intelligence, blockchain, and extended reality, are known to be energy-hungry, therefore raising concerns about the sustainability of its large-scale deployment and development. This article proposes Green Metaverse Networking for the first time to optimize energy efficiencies of all network components for Metaverse sustainable development. We first analyze energy consumption, efficiency, and sustainability of energy-intensive technologies in the Metaverse. Next, focusing on computation and networking, we present major advancements related to energy efficiency and their integration into the Metaverse. A case study of energy conservation by incorporating semantic communication and stochastic resource allocation in the Metaverse is presented. Finally, we outline the critical challenges of Metaverse sustainable development, thereby indicating potential directions of future research towards the green Metaverse.
Examining the Differential Risk from High-level Artificial Intelligence and the Question of Control
Venue: arXiv cs.AI 2023
Year: 2023

Artificial Intelligence (AI) is one of the most transformative technologies of the 21st century. The extent and scope of future AI capabilities remain a key uncertainty, with widespread disagreement on timelines and potential impacts. As nations and technology companies race toward greater complexity and autonomy in AI systems, there are concerns over the extent of integration and oversight of opaque AI decision processes. This is especially true in the subfield of machine learning (ML), where systems learn to optimize objectives without human assistance. Objectives can be imperfectly specified or executed in an unexpected or potentially harmful way. This becomes more concerning as systems increase in power and autonomy, where an abrupt capability jump could result in unexpected shifts in power dynamics or even catastrophic failures. This study presents a hierarchical complex systems framework to model AI risk and provide a template for alternative futures analysis. Survey data were collected from domain experts in the public and private sectors to classify AI impact and likelihood. The results show increased uncertainty over the powerful AI agent scenario, confidence in multiagent environments, and increased concern over AI alignment failures and influence-seeking behavior.
Probing neural language models for understanding of words of estimative probability
Venue: arXiv cs.CL 2023
Year: 2023

Words of estimative probability (WEP) are expressions of a statement's plausibility (probably, maybe, likely, doubt, likely, unlikely, impossible...). Multiple surveys demonstrate the agreement of human evaluators when assigning numerical probability levels to WEP. For example, highly likely corresponds to a median chance of 0.90+-0.08 in Fagen-Ulmschneider (2015)'s survey. In this work, we measure the ability of neural language processing models to capture the consensual probability level associated to each WEP. Firstly, we use the UNLI dataset (Chen et al., 2020) which associates premises and hypotheses with their perceived joint probability p, to construct prompts, e.g. "[PREMISE]. [WEP], [HYPOTHESIS]." and assess whether language models can predict whether the WEP consensual probability level is close to p. Secondly, we construct a dataset of WEP-based probabilistic reasoning, to test whether language models can reason with WEP compositions. When prompted "[EVENTA] is likely. [EVENTB] is impossible.", a causal language model should not express that [EVENTA&B] is likely. We show that both tasks are unsolved by off-the-shelf English language models, but that fine-tuning leads to transferable improvement.
Max-Min Off-Policy Actor-Critic Method Focusing on Worst-Case Robustness to Model Misspecification
Venue: arXiv cs.LG 2023
Year: 2023

In the field of reinforcement learning, because of the high cost and risk of policy training in the real world, policies are trained in a simulation environment and transferred to the corresponding real-world environment. However, the simulation environment does not perfectly mimic the real-world environment, lead to model misspecification. Multiple studies report significant deterioration of policy performance in a real-world environment. In this study, we focus on scenarios involving a simulation environment with uncertainty parameters and the set of their possible values, called the uncertainty parameter set. The aim is to optimize the worst-case performance on the uncertainty parameter set to guarantee the performance in the corresponding real-world environment. To obtain a policy for the optimization, we propose an off-policy actor-critic approach called the Max-Min Twin Delayed Deep Deterministic Policy Gradient algorithm (M2TD3), which solves a max-min optimization problem using a simultaneous gradient ascent descent approach. Experiments in multi-joint dynamics with contact (MuJoCo) environments show that the proposed method exhibited a worst-case performance superior to several baseline approaches.
Towards derandomising Markov chain Monte Carlo
Venue: arXiv cs.DS 2023
Year: 2023

We present a new framework to derandomise certain Markov chain Monte Carlo (MCMC) algorithms. As in MCMC, we first reduce counting problems to sampling from a sequence of marginal distributions. For the latter task, we introduce a method called coupling towards the past that can, in logarithmic time, evaluate one or a constant number of variables from a stationary Markov chain state. Since there are at most logarithmic random choices, this leads to very simple derandomisation. We provide two applications of this framework, namely efficient deterministic approximate counting algorithms for hypergraph independent sets and hypergraph colourings, under local lemma type conditions matching, up to lower order factors, their state-of-the-art randomised counterparts.
On the importance of data collection for training general goal-reaching policies
Venue: arXiv cs.AI 2023
Year: 2023

Recent advances in ML suggest that the quantity of data available to a model is one of the primary bottlenecks to high performance. Although for language-based tasks there exist almost unlimited amounts of reasonably coherent data to train from, this is generally not the case for Reinforcement Learning, especially when dealing with a novel environment. In effect, even a relatively trivial continuous environment has an almost limitless number of states, but simply sampling random states and actions will likely not provide transitions that are interesting or useful for any potential downstream task. How should one generate massive amounts of useful data given only an MDP with no indication of downstream tasks? Are the quantity and quality of data truly transformative to the performance of a general controller? We propose to answer both of these questions. First, we introduce a principled unsupervised exploration method, ChronoGEM, which aims to achieve uniform coverage over the manifold of achievable states, which we believe is the most reasonable goal given no prior task information. Secondly, we investigate the effects of both data quantity and data quality on the training of a downstream goal-achievement policy, and show that both large quantities and high-quality of data are essential to train a general controller: a high-precision pose-achievement policy capable of attaining a large number of poses over numerous continuous control embodiments including humanoid.
Do highly over-parameterized neural networks generalize since bad solutions are rare?
Venue: arXiv cs.LG 2023
Year: 2023

We study over-parameterized classifiers where Empirical Risk Minimization (ERM) for learning leads to zero training error. In these over-parameterized settings there are many global minima with zero training error, some of which generalize better than others. We show that under certain conditions the fraction of "bad" global minima with a true error larger than ε decays to zero exponentially fast with the number of training data n. The bound depends on the distribution of the true error over the set of classifier functions used for the given classification problem, and does not necessarily depend on the size or complexity (e.g. the number of parameters) of the classifier function set. This insight may provide a novel perspective on the unexpectedly good generalization even of highly over-parameterized neural networks. We substantiate our theoretical findings through experiments on synthetic data and a subset of MNIST. Additionally, we assess our hypothesis using VGG19 and ResNet18 on a subset of Caltech101.
TDC: Towards Extremely Efficient CNNs on GPUs via Hardware-Aware Tucker Decomposition
Venue: arXiv cs.DC 2023
Year: 2023

Tucker decomposition is one of the SOTA CNN model compression techniques. However, unlike the FLOPs reduction, we observe very limited inference time reduction with Tucker-compressed models using existing GPU software such as cuDNN. To this end, we propose an efficient end-to-end framework that can generate highly accurate and compact CNN models via Tucker decomposition and optimized inference code on GPUs. Specifically, we propose an ADMM-based training algorithm that can achieve highly accurate Tucker-format models. We also develop a high-performance kernel for Tucker-format convolutions and analytical performance models to guide the selection of execution parameters. We further propose a co-design framework to determine the proper Tucker ranks driven by practical inference time (rather than FLOPs). Our evaluation on five modern CNNs with A100 demonstrates that our compressed models with our optimized code achieve up to 2.21X speedup over cuDNN, 1.12X speedup over TVM, and 3.27X over the original models using cuDNN with at most 0.05% accuracy loss.
Easily Accessible Text-to-Image Generation Amplifies Demographic Stereotypes at Large Scale
Venue: arXiv cs.CL 2023
Year: 2023

Machine learning models that convert user-written text descriptions into images are now widely available online and used by millions of users to generate millions of images a day. We investigate the potential for these models to amplify dangerous and complex stereotypes. We find a broad range of ordinary prompts produce stereotypes, including prompts simply mentioning traits, descriptors, occupations, or objects. For example, we find cases of prompting for basic traits or social roles resulting in images reinforcing whiteness as ideal, prompting for occupations resulting in amplification of racial and gender disparities, and prompting for objects resulting in reification of American norms. Stereotypes are present regardless of whether prompts explicitly mention identity and demographic language or avoid such language. Moreover, stereotypes persist despite mitigation strategies; neither user attempts to counter stereotypes by requesting images with specific counter-stereotypes nor institutional attempts to add system ``guardrails'' have prevented the perpetuation of stereotypes. Our analysis justifies concerns regarding the impacts of today's models, presenting striking exemplars, and connecting these findings with deep insights into harms drawn from social scientific and humanist disciplines. This work contributes to the effort to shed light on the uniquely complex biases in language-vision models and demonstrates the ways that the mass deployment of text-to-image generation models results in mass dissemination of stereotypes and resulting harms.
ParticleNeRF: A Particle-Based Encoding for Online Neural Radiance Fields
Venue: arXiv cs.CV 2023
Year: 2023

While existing Neural Radiance Fields (NeRFs) for dynamic scenes are offline methods with an emphasis on visual fidelity, our paper addresses the online use case that prioritises real-time adaptability. We present ParticleNeRF, a new approach that dynamically adapts to changes in the scene geometry by learning an up-to-date representation online, every 200ms. ParticleNeRF achieves this using a novel particle-based parametric encoding. We couple features to particles in space and backpropagate the photometric reconstruction loss into the particles' position gradients, which are then interpreted as velocity vectors. Governed by a lightweight physics system to handle collisions, this lets the features move freely with the changing scene geometry. We demonstrate ParticleNeRF on various dynamic scenes containing translating, rotating, articulated, and deformable objects. ParticleNeRF is the first online dynamic NeRF and achieves fast adaptability with better visual fidelity than brute-force online InstantNGP and other baseline approaches on dynamic scenes with online constraints. Videos of our system can be found at our project website https://sites.google.com/view/particlenerf.
Toward Adaptive Semantic Communications: Efficient Data Transmission via Online Learned Nonlinear Transform Source-Channel Coding
Venue: arXiv cs.IT 2023
Year: 2023

The emerging field semantic communication is driving the research of end-to-end data transmission. By utilizing the powerful representation ability of deep learning models, learned data transmission schemes have exhibited superior performance than the established source and channel coding methods. While, so far, research efforts mainly concentrated on architecture and model improvements toward a static target domain. Despite their successes, such learned models are still suboptimal due to the limitations in model capacity and imperfect optimization and generalization, particularly when the testing data distribution or channel response is different from that adopted for model training, as is likely to be the case in real-world. To tackle this, we propose a novel online learned joint source and channel coding approach that leverages the deep learning model's overfitting property. Specifically, we update the off-the-shelf pre-trained models after deployment in a lightweight online fashion to adapt to the distribution shifts in source data and environment domain. We take the overfitting concept to the extreme, proposing a series of implementation-friendly methods to adapt the codec model or representations to an individual data or channel state instance, which can further lead to substantial gains in terms of the bandwidth ratio-distortion performance. The proposed methods enable the communication-efficient adaptation for all parameters in the network without sacrificing decoding speed. Our experiments, including user study, on continually changing target source data and wireless channel environments, demonstrate the effectiveness and efficiency of our approach, on which we outperform existing state-of-the-art engineered transmission scheme (VVC combined with 5G LDPC coded transmission).