OpenRaiser/Intern-Atlas huggingface dataset:
A Survey of System Architectures and Techniques for FPGA Virtualization
Venue: arXiv cs.AR 2021
Year: 2021

FPGA accelerators are gaining increasing attention in both cloud and edge computing because of their hardware flexibility, high computational throughput, and low power consumption. However, the design flow of FPGAs often requires specific knowledge of the underlying hardware, which hinders the wide adoption of FPGAs by application developers. Therefore, the virtualization of FPGAs becomes extremely important to create a useful abstraction of the hardware suitable for application developers. Such abstraction also enables the sharing of FPGA resources among multiple users and accelerator applications, which is important because, traditionally, FPGAs have been mostly used in single-user, single-embedded-application scenarios. There are many works in the field of FPGA virtualization covering different aspects and targeting different application areas. In this survey, we review the system architectures used in the literature for FPGA virtualization. In addition, we identify the primary objectives of FPGA virtualization, based on which we summarize the techniques for realizing FPGA virtualization. This survey helps researchers to efficiently learn about FPGA virtualization research by providing a comprehensive review of the existing literature.
Semantic Scene Completion using Local Deep Implicit Functions on LiDAR Data
Venue: arXiv cs.CV 2021
Year: 2021

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene segmentation network based on local Deep Implicit Functions as a novel learning-based method for scene completion. Unlike previous work on scene completion, our method produces a continuous scene representation that is not based on voxelization. We encode raw point clouds into a latent space locally and at multiple spatial resolutions. A global scene completion function is subsequently assembled from the localized function patches. We show that this continuous representation is suitable to encode geometric and semantic properties of extensive outdoor scenes without the need for spatial discretization (thus avoiding the trade-off between level of scene detail and the scene extent that can be covered). We train and evaluate our method on semantically annotated LiDAR scans from the Semantic KITTI dataset. Our experiments verify that our method generates a powerful representation that can be decoded into a dense 3D description of a given scene. The performance of our method surpasses the state of the art on the Semantic KITTI Scene Completion Benchmark in terms of geometric completion intersection-over-union (IoU).
Continuous Emotion Recognition with Spatiotemporal Convolutional Neural Networks
Venue: arXiv cs.CV 2021
Year: 2021

Facial expressions are one of the most powerful ways for depicting specific patterns in human behavior and describing human emotional state. Despite the impressive advances of affective computing over the last decade, automatic video-based systems for facial expression recognition still cannot handle properly variations in facial expression among individuals as well as cross-cultural and demographic aspects. Nevertheless, recognizing facial expressions is a difficult task even for humans. In this paper, we investigate the suitability of state-of-the-art deep learning architectures based on convolutional neural networks (CNNs) for continuous emotion recognition using long video sequences captured in-the-wild. This study focuses on deep learning models that allow encoding spatiotemporal relations in videos considering a complex and multi-dimensional emotion space, where values of valence and arousal must be predicted. We have developed and evaluated convolutional recurrent neural networks combining 2D-CNNs and long short term-memory units, and inflated 3D-CNN models, which are built by inflating the weights of a pre-trained 2D-CNN model during fine-tuning, using application-specific videos. Experimental results on the challenging SEWA-DB dataset have shown that these architectures can effectively be fine-tuned to encode the spatiotemporal information from successive raw pixel images and achieve state-of-the-art results on such a dataset.
A Tunnel Gaussian Process Model for Learning Interpretable Flight's Landing Parameters
Venue: arXiv cs.LG 2021
Year: 2021

Approach and landing accidents have resulted in a significant number of hull losses worldwide. Technologies (e.g., instrument landing system) and procedures (e.g., stabilized approach criteria) have been developed to reduce the risks. In this paper, we propose a data-driven method to learn and interpret flight's approach and landing parameters to facilitate comprehensible and actionable insights into flight dynamics. Specifically, we develop two variants of tunnel Gaussian process (TGP) models to elucidate aircraft's approach and landing dynamics using advanced surface movement guidance and control system (A-SMGCS) data, which then indicates the stability of flight. TGP hybridizes the strengths of sparse variational Gaussian process and polar Gaussian process to learn from a large amount of data in cylindrical coordinates. We examine TGP qualitatively and quantitatively by synthesizing three complex trajectory datasets and compared TGP against existing methods on trajectory learning. Empirically, TGP demonstrates superior modeling performance. When applied to operational A-SMGCS data, TGP provides the generative probabilistic description of landing dynamics and interpretable tunnel views of approach and landing parameters. These probabilistic tunnel models can facilitate the analysis of procedure adherence and augment existing aircrew and air traffic controllers' displays during the approach and landing procedures, enabling necessary corrective actions.
Learning Recurrent Neural Net Models of Nonlinear Systems
Venue: arXiv cs.LG 2021
Year: 2021

We consider the following learning problem: Given sample pairs of input and output signals generated by an unknown nonlinear system (which is not assumed to be causal or time-invariant), we wish to find a continuous-time recurrent neural net with hyperbolic tangent activation function that approximately reproduces the underlying i/o behavior with high confidence. Leveraging earlier work concerned with matching output derivatives up to a given finite order, we reformulate the learning problem in familiar system-theoretic language and derive quantitative guarantees on the sup-norm risk of the learned model in terms of the number of neurons, the sample size, the number of derivatives being matched, and the regularity properties of the inputs, the outputs, and the unknown i/o map.
Checking Causal Consistency of Distributed Databases
Venue: arXiv cs.DB 2021
Year: 2021

The CAP Theorem shows that (strong) Consistency, Availability, and Partition tolerance are impossible to be ensured together. Causal consistency is one of the weak consistency models that can be implemented to ensure availability and partition tolerance in distributed systems. In this work, we propose a tool to check automatically the conformance of distributed/concurrent systems executions to causal consistency models. Our approach consists in reducing the problem of checking if an execution is causally consistent to solving Datalog queries. The reduction is based on complete characterizations of the executions violating causal consistency in terms of the existence of cycles in suitably defined relations between the operations occurring in these executions. We have implemented the reduction in a testing tool for distributed databases, and carried out several experiments on real case studies, showing the efficiency of the suggested approach.
The Best of Many Worlds: Dual Mirror Descent for Online Allocation Problems
Venue: arXiv cs.DS 2021
Year: 2021

Online allocation problems with resource constraints are central problems in revenue management and online advertising. In these problems, requests arrive sequentially during a finite horizon and, for each request, a decision maker needs to choose an action that consumes a certain amount of resources and generates reward. The objective is to maximize cumulative rewards subject to a constraint on the total consumption of resources. In this paper, we consider a data-driven setting in which the reward and resource consumption of each request are generated using an input model that is unknown to the decision maker. We design a general class of algorithms that attain good performance in various input models without knowing which type of input they are facing. In particular, our algorithms are asymptotically optimal under independent and identically distributed inputs as well as various non-stationary stochastic input models, and they attain an asymptotically optimal fixed competitive ratio when the input is adversarial. Our algorithms operate in the Lagrangian dual space: they maintain a dual multiplier for each resource that is updated using online mirror descent. By choosing the reference function accordingly, we recover the dual sub-gradient descent and dual multiplicative weights update algorithm. The resulting algorithms are simple, fast, and do not require convexity in the revenue function, consumption function and action space, in contrast to existing methods for online allocation problems. We discuss applications to network revenue management, online bidding in repeated auctions with budget constraints, online proportional matching with high entropy, and personalized assortment optimization with limited inventory.
Reliability Enhancement for VR Delivery in Mobile-Edge Empowered Dual-Connectivity Sub-6 GHz and mmWave HetNets
Venue: arXiv cs.NI 2021
Year: 2021

The reliability of current virtual reality (VR) delivery is low due to the limited resources on VR head-mounted displays (HMDs) and the transmission rate bottleneck of sub-6 GHz networks. In this paper, we propose a dual-connectivity sub-6 GHz and mmWave heterogeneous network architecture empowered by mobile edge capability. The core idea of the proposed architecture is to utilize the complementary advantages of sub-6 GHz links and mmWave links to conduct a collaborative edge resource design, which aims to improve the reliability of VR delivery. From the perspective of stochastic geometry, we analyze the reliability of VR delivery and theoretically demonstrate that sub-6 GHz links can be used to enhance the reliability of VR delivery despite the large mmWave bandwidth. Based on our analytical work, we formulate a joint caching and computing optimization problem with the goal to maximize the reliability of VR delivery. By analyzing the coupling caching and computing strategies at HMDs, sub-6 GHz and mmWave base stations (BSs), we further transform the problem into a multiple-choice multi-dimension knapsack problem. A best-first branch and bound algorithm and a difference of convex programming algorithm are proposed to obtain the optimal and sub-optimal solution, respectively. Numerical results demonstrate the performance improvement using the proposed algorithms, and reveal that caching more monocular videos at sub-6 GHz BSs and more stereoscopic videos at mmWave BSs can improve the VR delivery reliability efficiently.
A Reputation Mechanism Is All You Need: Collaborative Fairness and Adversarial Robustness in Federated Learning
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning (FL) is an emerging practical framework for effective and scalable machine learning among multiple participants, such as end users, organizations and companies. However, most existing FL or distributed learning frameworks have not well addressed two important issues together: collaborative fairness and adversarial robustness (e.g. free-riders and malicious participants). In conventional FL, all participants receive the global model (equal rewards), which might be unfair to the high-contributing participants. Furthermore, due to the lack of a safeguard mechanism, free-riders or malicious adversaries could game the system to access the global model for free or to sabotage it. In this paper, we propose a novel Robust and Fair Federated Learning (RFFL) framework to achieve collaborative fairness and adversarial robustness simultaneously via a reputation mechanism. RFFL maintains a reputation for each participant by examining their contributions via their uploaded gradients (using vector similarity) and thus identifies non-contributing or malicious participants to be removed. Our approach differentiates itself by not requiring any auxiliary/validation dataset. Extensive experiments on benchmark datasets show that RFFL can achieve high fairness and is very robust to different types of adversaries while achieving competitive predictive accuracy.
Probabilistic Radio-Visual Active Sensing for Search and Tracking
Venue: arXiv cs.RO 2021
Year: 2021

Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target with an aerial robot equipped with a radio receiver and a camera. Visual-based tracking provides high accuracy, but the directionality of the sensing domain may require long search times before detecting the target. Conversely, radio signals have larger coverage, but lower tracking accuracy. Thus, we design a Recursive Bayesian Estimation scheme that uses camera observations to refine radio measurements. To regulate the camera pose, we design an optimal controller whose cost function is built upon a probabilistic map. Theoretical results support the proposed algorithm, while numerical analyses show higher robustness and efficiency with respect to visual and radio-only baselines.
From Recognition to Prediction: Analysis of Human Action and Trajectory Prediction in Video
Venue: arXiv cs.CV 2021
Year: 2021

With the advancement in computer vision deep learning, systems now are able to analyze an unprecedented amount of rich visual information from videos to enable applications such as autonomous driving, socially-aware robot assistant and public safety monitoring. Deciphering human behaviors to predict their future paths/trajectories and what they would do from videos is important in these applications. However, human trajectory prediction still remains a challenging task, as scene semantics and human intent are difficult to model. Many systems do not provide high-level semantic attributes to reason about pedestrian future. This design hinders prediction performance in video data from diverse domains and unseen scenarios. To enable optimal future human behavioral forecasting, it is crucial for the system to be able to detect and analyze human activities as well as scene semantics, passing informative features to the subsequent prediction module for context understanding.
A Review and Comparative Study on Probabilistic Object Detection in Autonomous Driving
Venue: arXiv cs.CV 2021
Year: 2021

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed. However, there is no summary on uncertainty estimation in deep object detection, and existing methods are not only built with different network architectures and uncertainty estimation methods, but also evaluated on different datasets with a wide range of evaluation metrics. As a result, a comparison among methods remains challenging, as does the selection of a model that best suits a particular application. This paper aims to alleviate this problem by providing a review and comparative study on existing probabilistic object detection methods for autonomous driving applications. First, we provide an overview of generic uncertainty estimation in deep learning, and then systematically survey existing methods and evaluation metrics for probabilistic object detection. Next, we present a strict comparative study for probabilistic object detection based on an image detector and three public autonomous driving datasets. Finally, we present a discussion of the remaining challenges and future works. Code has been made available at https://github.com/asharakeh/pod_compare.git
Computing properties of thermodynamic binding networks: An integer programming approach
Venue: arXiv cs.ET 2021
Year: 2021

The thermodynamic binding networks (TBN) model is a tool for studying engineered molecular systems. The TBN model allows one to reason about their behavior through a simplified abstraction that ignores details about molecular composition, focusing on two key determinants of a system's energetics common to any chemical substrate: how many molecular bonds are formed, and how many separate complexes exist in the system. We formulate as an integer program the NP-hard problem of computing stable (a.k.a., minimum energy) configurations of a TBN: those configurations that maximize the number of bonds and complexes. We provide open-source software solving this integer program. We give empirical evidence that this approach enables dramatically faster computation of TBN stable configurations than previous approaches based on SAT solvers. Furthermore, unlike SAT-based approaches, our integer programming formulation can reason about TBNs in which some molecules have unbounded counts. These improvements in turn allow us to efficiently automate verification of desired properties of practical TBNs. Finally, we show that the TBN has a natural representation with a unique Hilbert basis describing the "fundamental components" out of which locally minimal energy configurations are composed. This characterization helps verify correctness of not only stable configurations, but entire "kinetic pathways" in a TBN.
On the Convergence of Reinforcement Learning in Nonlinear Continuous State Space Problems
Venue: arXiv cs.LG 2021
Year: 2021

We consider the problem of Reinforcement Learning for nonlinear stochastic dynamical systems. We show that in the RL setting, there is an inherent ``Curse of Variance" in addition to Bellman's infamous ``Curse of Dimensionality", in particular, we show that the variance in the solution grows factorial-exponentially in the order of the approximation. A fundamental consequence is that this precludes the search for anything other than ``local" feedback solutions in RL, in order to control the explosive variance growth, and thus, ensure accuracy. We further show that the deterministic optimal control has a perturbation structure, in that the higher order terms do not affect the calculation of lower order terms, which can be utilized in RL to get accurate local solutions.
Learning Class Unique Features in Fine-Grained Visual Classification
Venue: arXiv cs.LG 2021
Year: 2021

A major challenge in Fine-Grained Visual Classification (FGVC) is distinguishing various categories with high inter-class similarity by learning the feature that differentiate the details. Conventional cross entropy trained Convolutional Neural Network (CNN) fails this challenge as it may suffer from producing inter-class invariant features in FGVC. In this work, we innovatively propose to regularize the training of CNN by enforcing the uniqueness of the features to each category from an information theoretic perspective. To achieve this goal, we formulate a minimax loss based on a game theoretic framework, where a Nash equilibria is proved to be consistent with this regularization objective. Besides, to prevent from a feasible solution of minimax loss that may produce redundant features, we present a Feature Redundancy Loss (FRL) based on normalized inner product between each selected feature map pair to complement the proposed minimax loss. Superior experimental results on several influential benchmarks along with visualization show that our method gives full play to the performance of the baseline model without additional computation and achieves comparable results with state-of-the-art models.
Registration of serial sections: An evaluation method based on distortions of the ground truths
Venue: arXiv cs.CV 2021
Year: 2021

Registration of histological serial sections is a challenging task. Serial sections exhibit distortions and damage from sectioning. Missing information on how the tissue looked before cutting makes a realistic validation of 2D registrations extremely difficult. This work proposes methods for ground-truth-based evaluation of registrations. Firstly, we present a methodology to generate test data for registrations. We distort an innately registered image stack in the manner similar to the cutting distortion of serial sections. Test cases are generated from existing 3D data sets, thus the ground truth is known. Secondly, our test case generation premises evaluation of the registrations with known ground truths. Our methodology for such an evaluation technique distinguishes this work from other approaches. Both under- and over-registration become evident in our evaluations. We also survey existing validation efforts. We present a full-series evaluation across six different registration methods applied to our distorted 3D data sets of animal lungs. Our distorted and ground truth data sets are made publicly available.
Structure-Aware Completion of Photogrammetric Meshes in Urban Road Environment
Venue: arXiv cs.CV 2021
Year: 2021

Photogrammetric mesh models obtained from aerial oblique images have been widely used for urban reconstruction. However, the photogrammetric meshes also suffer from severe texture problems, especially on the road areas due to occlusion. This paper proposes a structure-aware completion approach to improve the quality of meshes by removing undesired vehicles on the road seamlessly. Specifically, the discontinuous texture atlas is first integrated to a continuous screen space through rendering by the graphics pipeline; the rendering also records necessary mapping for deintegration to the original texture atlas after editing. Vehicle regions are masked by a standard object detection approach, e.g. Faster RCNN. Then, the masked regions are completed guided by the linear structures and regularities in the road region, which is implemented based on Patch Match. Finally, the completed rendered image is deintegrated to the original texture atlas and the triangles for the vehicles are also flattened for improved meshes. Experimental evaluations and analyses are conducted against three datasets, which are captured with different sensors and ground sample distances. The results reveal that the proposed method can quite realistic meshes after removing the vehicles. The structure-aware completion approach for road regions outperforms popular image completion methods and ablation study further confirms the effectiveness of the linear guidance. It should be noted that the proposed method is also capable to handle tiled mesh models for large-scale scenes. Dataset and code are available at vrlab.org.cn/~hanhu/projects/mesh.