OpenRaiser/Intern-Atlas huggingface dataset:
Quiver: Supporting GPUs for Low-Latency, High-Throughput GNN Serving with Workload Awareness
Venue: arXiv cs.DC 2023
Year: 2023

Systems for serving inference requests on graph neural networks (GNN) must combine low latency with high throughout, but they face irregular computation due to skew in the number of sampled graph nodes and aggregated GNN features. This makes it challenging to exploit GPUs effectively: using GPUs to sample only a few graph nodes yields lower performance than CPU-based sampling; and aggregating many features exhibits high data movement costs between GPUs and CPUs. Therefore, current GNN serving systems use CPUs for graph sampling and feature aggregation, limiting throughput. We describe Quiver, a distributed GPU-based GNN serving system with low-latency and high-throughput. Quiver's key idea is to exploit workload metrics for predicting the irregular computation of GNN requests, and governing the use of GPUs for graph sampling and feature aggregation: (1) for graph sampling, Quiver calculates the probabilistic sampled graph size, a metric that predicts the degree of parallelism in graph sampling. Quiver uses this metric to assign sampling tasks to GPUs only when the performance gains surpass CPU-based sampling; and (2) for feature aggregation, Quiver relies on the feature access probability to decide which features to partition and replicate across a distributed GPU NUMA topology. We show that Quiver achieves up to 35 times lower latency with an 8 times higher throughput compared to state-of-the-art GNN approaches (DGL and PyG).
Semantically Aligned Task Decomposition in Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

The difficulty of appropriately assigning credit is particularly heightened in cooperative MARL with sparse reward, due to the concurrent time and structural scales involved. Automatic subgoal generation (ASG) has recently emerged as a viable MARL approach inspired by utilizing subgoals in intrinsically motivated reinforcement learning. However, end-to-end learning of complex task planning from sparse rewards without prior knowledge, undoubtedly requires massive training samples. Moreover, the diversity-promoting nature of existing ASG methods can lead to the "over-representation" of subgoals, generating numerous spurious subgoals of limited relevance to the actual task reward and thus decreasing the sample efficiency of the algorithm. To address this problem and inspired by the disentangled representation learning, we propose a novel "disentangled" decision-making method, Semantically Aligned task decomposition in MARL (SAMA), that prompts pretrained language models with chain-of-thought that can suggest potential goals, provide suitable goal decomposition and subgoal allocation as well as self-reflection-based replanning. Additionally, SAMA incorporates language-grounded RL to train each agent's subgoal-conditioned policy. SAMA demonstrates considerable advantages in sample efficiency compared to state-of-the-art ASG methods, as evidenced by its performance on two challenging sparse-reward tasks, Overcooked and MiniRTS.
Meta-Auxiliary Network for 3D GAN Inversion
Venue: arXiv cs.CV 2023
Year: 2023

Real-world image manipulation has achieved fantastic progress in recent years. GAN inversion, which aims to map the real image to the latent code faithfully, is the first step in this pipeline. However, existing GAN inversion methods fail to achieve high reconstruction quality and fast inference at the same time. In addition, existing methods are built on 2D GANs and lack explicitly mechanisms to enforce multi-view consistency.In this work, we present a novel meta-auxiliary framework, while leveraging the newly developed 3D GANs as generator. The proposed method adopts a two-stage strategy. In the first stage, we invert the input image to an editable latent code using off-the-shelf inversion techniques. The auxiliary network is proposed to refine the generator parameters with the given image as input, which both predicts offsets for weights of convolutional layers and sampling positions of volume rendering. In the second stage, we perform meta-learning to fast adapt the auxiliary network to the input image, then the final reconstructed image is synthesized via the meta-learned auxiliary network. Extensive experiments show that our method achieves better performances on both inversion and editing tasks.
FLIGHT Mode On: A Feather-Light Network for Low-Light Image Enhancement
Venue: arXiv cs.CV 2023
Year: 2023

Low-light image enhancement (LLIE) is an ill-posed inverse problem due to the lack of knowledge of the desired image which is obtained under ideal illumination conditions. Low-light conditions give rise to two main issues: a suppressed image histogram and inconsistent relative color distributions with low signal-to-noise ratio. In order to address these problems, we propose a novel approach named FLIGHT-Net using a sequence of neural architecture blocks. The first block regulates illumination conditions through pixel-wise scene dependent illumination adjustment. The output image is produced in the output of the second block, which includes channel attention and denoising sub-blocks. Our highly efficient neural network architecture delivers state-of-the-art performance with only 25K parameters. The method's code, pretrained models and resulting images will be publicly available.
Student-friendly Knowledge Distillation
Venue: arXiv cs.CV 2023
Year: 2023

In knowledge distillation, the knowledge from the teacher model is often too complex for the student model to thoroughly process. However, good teachers in real life always simplify complex material before teaching it to students. Inspired by this fact, we propose student-friendly knowledge distillation (SKD) to simplify teacher output into new knowledge representations, which makes the learning of the student model easier and more effective. SKD contains a softening processing and a learning simplifier. First, the softening processing uses the temperature hyperparameter to soften the output logits of the teacher model, which simplifies the output to some extent and makes it easier for the learning simplifier to process. The learning simplifier utilizes the attention mechanism to further simplify the knowledge of the teacher model and is jointly trained with the student model using the distillation loss, which means that the process of simplification is correlated with the training objective of the student model and ensures that the simplified new teacher knowledge representation is more suitable for the specific student model. Furthermore, since SKD does not change the form of the distillation loss, it can be easily combined with other distillation methods that are based on the logits or features of intermediate layers to enhance its effectiveness. Therefore, SKD has wide applicability. The experimental results on the CIFAR-100 and ImageNet datasets show that our method achieves state-of-the-art performance while maintaining high training efficiency.
Take a Break in the Middle: Investigating Subgoals towards Hierarchical Script Generation
Venue: arXiv cs.CL 2023
Year: 2023

Goal-oriented Script Generation is a new task of generating a list of steps that can fulfill the given goal. In this paper, we propose to extend the task from the perspective of cognitive theory. Instead of a simple flat structure, the steps are typically organized hierarchically - Human often decompose a complex task into subgoals, where each subgoal can be further decomposed into steps. To establish the benchmark, we contribute a new dataset, propose several baseline methods, and set up evaluation metrics. Both automatic and human evaluation verify the high-quality of dataset, as well as the effectiveness of incorporating subgoals into hierarchical script generation. Furthermore, We also design and evaluate the model to discover subgoal, and find that it is a bit more difficult to decompose the goals than summarizing from segmented steps.
From the Lab to the Wild: Affect Modeling via Privileged Information
Venue: arXiv cs.HC 2023
Year: 2023

How can we reliably transfer affect models trained in controlled laboratory conditions (in-vitro) to uncontrolled real-world settings (in-vivo)? The information gap between in-vitro and in-vivo applications defines a core challenge of affective computing. This gap is caused by limitations related to affect sensing including intrusiveness, hardware malfunctions and availability of sensors. As a response to these limitations, we introduce the concept of privileged information for operating affect models in real-world scenarios (in the wild). Privileged information enables affect models to be trained across multiple modalities available in a lab, and ignore, without significant performance drops, those modalities that are not available when they operate in the wild. Our approach is tested in two multimodal affect databases one of which is designed for testing models of affect in the wild. By training our affect models using all modalities and then using solely raw footage frames for testing the models, we reach the performance of models that fuse all available modalities for both training and testing. The results are robust across both classification and regression affect modeling tasks which are dominant paradigms in affective computing. Our findings make a decisive step towards realizing affect interaction in the wild.
On the Off-Target Problem of Zero-Shot Multilingual Neural Machine Translation
Venue: arXiv cs.CL 2023
Year: 2023

While multilingual neural machine translation has achieved great success, it suffers from the off-target issue, where the translation is in the wrong language. This problem is more pronounced on zero-shot translation tasks. In this work, we find that failing in encoding discriminative target language signal will lead to off-target and a closer lexical distance (i.e., KL-divergence) between two languages' vocabularies is related with a higher off-target rate. We also find that solely isolating the vocab of different languages in the decoder can alleviate the problem. Motivated by the findings, we propose Language Aware Vocabulary Sharing (LAVS), a simple and effective algorithm to construct the multilingual vocabulary, that greatly alleviates the off-target problem of the translation model by increasing the KL-divergence between languages. We conduct experiments on a multilingual machine translation benchmark in 11 languages. Experiments show that the off-target rate for 90 translation tasks is reduced from 29\% to 8\%, while the overall BLEU score is improved by an average of 1.9 points without extra training cost or sacrificing the supervised directions' performance. We release the code at https://github.com/PKUnlp-icler/Off-Target-MNMT for reproduction.
Actor-Critic Methods using Physics-Informed Neural Networks: Control of a 1D PDE Model for Fluid-Cooled Battery Packs
Venue: arXiv cs.LG 2023
Year: 2023

This paper proposes an actor-critic algorithm for controlling the temperature of a battery pack using a cooling fluid. This is modeled by a coupled 1D partial differential equation (PDE) with a controlled advection term that determines the speed of the cooling fluid. The Hamilton-Jacobi-Bellman (HJB) equation is a PDE that evaluates the optimality of the value function and determines an optimal controller. We propose an algorithm that treats the value network as a Physics-Informed Neural Network (PINN) to solve for the continuous-time HJB equation rather than a discrete-time Bellman optimality equation, and we derive an optimal controller for the environment that we exploit to achieve optimal control. Our experiments show that a hybrid-policy method that updates the value network using the HJB equation and updates the policy network identically to PPO achieves the best results in the control of this PDE system.
Deep Reinforcement Learning-Based Control for Stomach Coverage Scanning of Wireless Capsule Endoscopy
Venue: arXiv cs.RO 2023
Year: 2023

Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule endoscope can be challenging. In this work, we control the magnetic capsule endoscope for the coverage scanning task in the stomach based on reinforcement learning so that the capsule can comprehensively scan every corner of the stomach. We apply a well-made virtual platform named VR-Caps to simulate the process of stomach coverage scanning with a capsule endoscope model. We utilize and compare two deep reinforcement learning algorithms, the Proximal Policy Optimization (PPO) and Soft Actor-Critic (SAC) algorithms, to train the permanent magnetic agent, which actuates the capsule endoscope directly via magnetic fields and then optimizes the scanning efficiency of stomach coverage. We analyze the pros and cons of the two algorithms with different hyperparameters and achieve a coverage rate of 98.04% of the stomach area within 150.37 seconds.
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
Venue: arXiv cs.RO 2023
Year: 2023

We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research robot platforms (whose dynamics and constraints differ from industrial robot arms), or only address tasks where the robot's dynamics are not as important (e.g: pick and place tasks). We investigate the usage of commercially available VR interfaces for effectively teleoeprating industrial robot manipulators in a variety of contact-rich manipulation tasks. We find that applying standard practices for VR control of robot arms is challenging for industrial platforms because torque and velocity control is not exposed, and position control is mediated through a black-box controller. To mitigate these problems, we propose a simplified filtering approach to process command signals to enable operators to effectively teleoperate industrial robot arms with VR interfaces in dexterous manipulation tasks. We hope our findings will help robot practitioners implement and setup effective VR teleoperation interfaces for robot manipulators. The proposed method is demonstrated on a variety of contact-rich manipulation tasks which can also involve very precise movement of the robot during execution (videos can be found at https://www.youtube.com/watch?v=OhkCB9mOaBc)
Hibernate Container: A Deflated Container Mode for Fast Startup and High-density Deployment in Serverless Computing
Venue: arXiv cs.DC 2023
Year: 2023

Serverless computing is a popular cloud computing paradigm, which requires low response latency to handle on-demand user requests. There are two prominent techniques employed for reducing the response latency: keep fully initialized containers alive (Warm Container) or reduce the new container startup (cold start) latency. This paper presents the 3rd container startup mode: Hibernate Container, which starts faster than the cold start container mode and consumes less memory than the Warm Container mode. Hibernate Container is essentially a "deflated" Warm Container. Its application memory is swapped out to disk, the freed memory is reclaimed and file based mmap memory is cleaned-up. The Hibernate Container's deflated memory is inflated in response to user requests. As Hibernate Container's application is fully initialized, its response latency is less than the cold start mode; and as the application memory is deflated, its memory consumption is less than the Warm Container mode. Additionally, when a Hibernate Container is "woken up" to process a request, the Woken-up Container has similar response latency to Warm Container but less memory consumption because not all the deflated memory needs to be inflated. We implemented the Hibernate technique as part of the open source Quark secure container runtime project and our test demonstrated that Hibernate Container consumes about 7\% to 25\% of the Warm Container memory. All of this results in a higher deployment density, lower latency and appreciable improvements in the overall system performance.
Worst-Case VCG Redistribution Mechanism Design Based on the Lottery Ticket Hypothesis
Venue: arXiv cs.GT 2023
Year: 2023

We study worst-case VCG redistribution mechanism design for the public project problem. We use a multilayer perceptron (MLP) with ReLU activation to model the payment function and use mixed integer programming (MIP) to solve for the worst-case type profiles that maximally violate the mechanism design constraints. We collect these worst-case type profiles and use them as training samples to train toward better worst-case mechanisms. In practice, we require a tiny network structure for the above approach to scale. The Lottery Ticket Hypothesis states that a large network is likely to contain a "winning ticket" -- a much smaller subnetwork that "won the initialization lottery", which makes its training particularly effective. Motivated by this hypothesis, we train a large network and prune it into a tiny subnetwork. We run MIP-based worst-case training on the drawn subnetwork and evaluate the resulting mechanism's worst-case performance. If the subnetwork does not achieve good worst-case performance, then we record the type profiles that cause the current draw to be bad. To draw again, we restore the large network to its initial weights and prune using recorded type profiles from earlier draws, therefore avoiding drawing the same ticket twice. We expect to eventually encounter a tiny subnetwork that leads to effective training for our worst-case mechanism design task. Lastly, a by-product of multiple ticket draws is an ensemble of mechanisms with different worst cases, which improves the worst-case performance further. Using our approach, we find previously unknown optimal mechanisms for up to 5 agents. Our results confirm the tightness of existing theoretical upper bounds. For up to 20 agents, we derive significantly improved worst-case mechanisms, surpassing a long list of existing manual results.
Deep Metric Tensor Regularized Policy Gradient
Venue: arXiv cs.LG 2023
Year: 2023

Policy gradient algorithms are an important family of deep reinforcement learning techniques. Many past research endeavors focused on using the first-order policy gradient information to train policy networks. Different from these works, we conduct research in this paper driven by the believe that properly utilizing and controlling Hessian information associated with the policy gradient can noticeably improve the performance of policy gradient algorithms. One key Hessian information that attracted our attention is the Hessian trace, which gives the divergence of the policy gradient vector field in the Euclidean policy parametric space. We set the goal to generalize this Euclidean policy parametric space into a general Riemmanian manifold by introducing a metric tensor field $g_ab$ in the parametric space. This is achieved through newly developed mathematical tools, deep learning algorithms, and metric tensor deep neural networks (DNNs). Armed with these technical developments, we propose a new policy gradient algorithm that learns to minimize the absolute divergence in the Riemannian manifold as an important regularization mechanism, allowing the Riemannian manifold to smoothen its policy gradient vector field. The newly developed algorithm is experimentally studied on several benchmark reinforcement learning problems. Our experiments clearly show that the new metric tensor regularized algorithm can significantly outperform its counterpart that does not use our regularization technique. Additional experimental analysis further suggests that the trained metric tensor DNN and the corresponding metric tensor $g_{ab}$ can effectively reduce the absolute divergence towards zero in the Riemannian manifold.
From Assistive Technologies to Metaverse: Technologies in Inclusive Higher Education for Students with Specific Learning Difficulties
Venue: arXiv cs.CY 2023
Year: 2023

The development of new technologies and their expanding use in a wide range of educational environments are driving the transformation of higher education. Assistive technologies are a subset of cutting-edge technology that can help students learn more effectively and make education accessible to everyone. Assistive technology can enhance, maintain, or improve the capacities of students with learning difficulties. Students with learning difficulties will be greatly benefited from the use of assistive technologies. If these technologies are used effectively, students with learning difficulties can compete with their peers and complete their academic tasks. We aim to conduct this review to better understand the role of assistive technologies in providing inclusive higher education for students with learning difficulties. The review begins with the introduction of learning difficulties and their causes; inclusive education and the need for assistive technologies; the reasoning for conducting this review; and a summary of related reviews on assistive technologies for students with learning difficulties in inclusive higher education. Then, we discuss the preliminaries for the learning difficulties type and assistive technology. Later, we discuss the effects of assistive technology on inclusive higher education for students with learning difficulties. Additionally, we discuss related projects and support tools available in inclusive higher education for students with learning difficulties. We also explore the challenges and possible solutions related to using assistive technology in higher education to provide inclusive education for students with learning difficulties. We conclude the review with a discussion of potential promising future directions.
Understanding Interactions Between Chip Architecture and Uncertainties in Semiconductor Supply and Demand
Venue: arXiv cs.AR 2023
Year: 2023

Mitigating losses from supply and demand volatility in the semiconductor supply chain and market has traditionally been cast as a logistics and forecasting problem. We investigate how the architecture of a family of chips influences how it is affected by supply and demand uncertainties. We observe that semiconductor supply chains become fragile, in part, due to single demand paths, where one chip can satisfy only one demand. Chip architects can enable multiple paths to satisfy a chip demand, which improves supply chain resilience. Based on this observation, we study composition and adaptation as architectural strategies to improve resilience to volatility and also introduce a third strategy of dispersion. These strategies allow multiple paths to satisfy a given chip demand. We develop a model to analyze the impact of these architectural techniques on supply chain costs under different regimes of uncertainties and evaluate what happens when they are combined. We present several interesting and even counterintuitive observations about the product configurations and market conditions where these interventions are impactful and where they are not. In all, we show that product redesign supported by architectural changes can mitigate nearly half of the losses caused by supply and demand volatility. As far as we know, this is the first such investigation concerning chip architecture.