OpenRaiser/Intern-Atlas huggingface dataset:
Energy-Efficient Accelerator Design for Deformable Convolution Networks
Venue: arXiv cs.AR 2021
Year: 2021

Deformable convolution networks (DCNs) proposed to address the image recognition with geometric or photometric variations typically involve deformable convolution that convolves on arbitrary locations of input features. The locations change with different inputs and induce considerable dynamic and irregular memory accesses which cannot be handled by classic neural network accelerators (NNAs). Moreover, bilinear interpolation (BLI) operation that is required to obtain deformed features in DCNs also cannot be deployed on existing NNAs directly. Although a general purposed processor (GPP) seated along with classic NNAs can process the deformable convolution, the processing on GPP can be extremely slow due to the lack of parallel computing capability. To address the problem, we develop a DCN accelerator on existing NNAs to support both the standard convolution and deformable convolution. Specifically, for the dynamic and irregular accesses in DCNs, we have both the input and output features divided into tiles and build a tile dependency table (TDT) to track the irregular tile dependency at runtime. With the TDT, we further develop an on-chip tile scheduler to handle the dynamic and irregular accesses efficiently. In addition, we propose a novel mapping strategy to enable parallel BLI processing on NNAs and apply layer fusion techniques for more energy-efficient DCN processing. According to our experiments, the proposed accelerator achieves orders of magnitude higher performance and energy efficiency compared to the typical computing architectures including ARM, ARM+TPU, and GPU with 6.6\% chip area penalty to a classic NNA.
Making Three Out of Two: Three-Way Online Correlated Selection
Venue: arXiv cs.DS 2021
Year: 2021

Two-way online correlated selection (two-way OCS) is an online algorithm that, at each timestep, takes a pair of elements from the ground set and irrevocably chooses one of the two elements, while ensuring negative correlation in the algorithm's choices. Whilst OCS was initially invented by Fahrbach, Huang, Tao, and Zadimoghaddam to solve the edge-weighted online bipartite matching problem, it is an interesting technique on its own due to its capability of introducing a powerful algorithmic tool, namely negative correlation, to online algorithms. As such, Fahrbach et al. posed two tantalizing open questions in their paper, one of which was the following: Can we obtain n-way OCS for n>2, in which the algorithm can be given n>2 elements to choose from at each timestep? In this paper, we affirmatively answer this open question by presenting a three-way OCS. Our algorithm uses two-way OCS as its building block and is simple to describe; however, as it internally runs two instances of two-way OCS, one of which is fed with the output of the other, the final output probability distribution becomes highly elusive. We tackle this difficulty by approximating the output distribution of OCS by a flat, less correlated function and using it as a safe "surrogate" of the real distribution. Our three-way OCS also yields a 0.5093-competitive algorithm for edge-weighted online matching, demonstrating its usefulness.
Automatic size and pose homogenization with spatial transformer network to improve and accelerate pediatric segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Due to a high heterogeneity in pose and size and to a limited number of available data, segmentation of pediatric images is challenging for deep learning methods. In this work, we propose a new CNN architecture that is pose and scale invariant thanks to the use of Spatial Transformer Network (STN). Our architecture is composed of three sequential modules that are estimated together during training: (i) a regression module to estimate a similarity matrix to normalize the input image to a reference one; (ii) a differentiable module to find the region of interest to segment; (iii) a segmentation module, based on the popular UNet architecture, to delineate the object. Unlike the original UNet, which strives to learn a complex mapping, including pose and scale variations, from a finite training dataset, our segmentation module learns a simpler mapping focusing on images with normalized pose and size. Furthermore, the use of an automatic bounding box detection through STN allows saving time and especially memory, while keeping similar performance. We test the proposed method in kidney and renal tumor segmentation on abdominal pediatric CT scanners. Results indicate that the estimated STN homogenization of size and pose accelerates the segmentation (25h), compared to standard data-augmentation (33h), while obtaining a similar quality for the kidney (88.01\% of Dice score) and improving the renal tumor delineation (from 85.52\% to 87.12\%).
Exact Analytical Parallel Vectors
Venue: arXiv cs.GR 2021
Year: 2021

This paper demonstrates that parallel vector curves are piecewise cubic rational curves in 3D piecewise linear vector fields. Parallel vector curves -- loci of points where two vector fields are parallel -- have been widely used to extract features including ridges, valleys, and vortex core lines in scientific data. We define the term \emph{generalized and underdetermined eigensystem} in the form of $\mathbf{A}\mathbf{x}+\mathbf{a}=λ(\mathbf{B}\mathbf{x}+\mathbf{b})$ in order to derive the piecewise rational representation of 3D parallel vector curves. We discuss how singularities of the rationals lead to different types of intersections with tetrahedral cells.
Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
Venue: arXiv cs.RO 2021
Year: 2021

Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide insights into overcoming these limitations due to the high dexterity and stability observable in humans and animals. This work presents a geometrical solution to the postural optimisation of 7-DoF limbs-like mechanisms, which are robust to singularities and computationally efficient. The theoretical formulation identified two separate decoupled optimisation strategies. The shoulder and elbow strategy align the plane of motion with the expected plane of motion and guarantee the reachability of the end-posture. The wrist strategy ensures the end-effector orientation, which is essential to retain manipulability when nearing a singular configuration. The numerical results confirmed the theoretical observations and allowed us to identify the effect of different grasp strategies on system manipulability. The geometrical method was numerically tested in thousands of configurations proving to be both robust and accurate. The tested scenarios include left and right arm postures, singular configurations, and walking scenarios. The proposed geometrical approach can find application in developing efficient and robust interaction controllers that could be applied in computational neuroscience and robotics.
Exploring the Scope of Using News Articles to Understand Development Patterns of Districts in India
Venue: arXiv cs.IR 2021
Year: 2021

Understanding what factors bring about socio-economic development may often suffer from the streetlight effect, of analyzing the effect of only those variables that have been measured and are therefore available for analysis. How do we check whether all worthwhile variables have been instrumented and considered when building an econometric development model? We attempt to address this question by building unsupervised learning methods to identify and rank news articles about diverse events occurring in different districts of India, that can provide insights about what may have transpired in the districts. This can help determine whether variables related to these events are indeed available or not to model the development of these districts. We also describe several other applications that emerge from this approach, such as to use news articles to understand why pairs of districts that may have had similar socio-economic indicators approximately ten years back ended up at different levels of development currently, and another application that generates a newsfeed of unusual news articles that do not conform to news articles about typical districts with a similar socio-economic profile. These applications outline the need for qualitative data to augment models based on quantitative data, and are meant to open up research on new ways to mine information from unstructured qualitative data to understand development.
Developing and delivering a remote experiment based on the experiential learning framework during COVID-19 pandemic
Venue: arXiv cs.CY 2021
Year: 2021

The students following Engineering disciplines should not only acquire the conceptual understanding of the concepts but also the processors and attitudes. There are two recognizable learning environments for students, namely, classroom environment and laboratory environment. With the COVID-19 pandemic, both environments merged to online environments, impacting students' development of processes and characteristic attitudes. This paper introduces a theoretical framework based on experiential learning to plan and deliver processes through an online environment. A case study based on the power factor correction experiment was presented. The traditional experiment that runs for 3 hours was broken into smaller tasks such as a pre-lab activity, a simulation exercise, a PowerPoint presentation, a remote laboratory activity, and a final report based on the experiential learning approach. A questionnaire that carries close and open-ended questions were administered to obtain students' reflections about developing the processes through an online-friendly experiential learning approach. The majority of the students like the approach followed and praise for providing them with an opportunity to perform the experiment in a novel way during the COVID-19 situation.
Toward Robotically Automated Femoral Vascular Access
Venue: arXiv cs.RO 2021
Year: 2021

Advanced resuscitative technologies, such as Extra Corporeal Membrane Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion of the Aorta (REBOA), are technically difficult even for skilled medical personnel. This paper describes the core technologies that comprise a teleoperated system capable of granting femoral vascular access, which is an important step in both of these procedures and a major roadblock in their wider use in the field. These technologies include a kinematic manipulator, various sensing modalities, and a user interface. In addition, we evaluate our system on a surgical phantom as well as in-vivo porcine experiments. These resulted in, to the best of our knowledge, the first robot-assisted arterial catheterizations; a major step towards our eventual goal of automatic catheter insertion through the Seldinger technique.
Toward Interlanguage Parallel Scripting for Distributed-Memory Scientific Computing
Venue: arXiv cs.DC 2021
Year: 2021

Scripting languages such as Python and R have been widely adopted as tools for the productive development of scientific software because of the power and expressiveness of the languages and available libraries. However, deploying scripted applications on large-scale parallel computer systems such as the IBM Blue Gene/Q or Cray XE6 is a challenge because of issues including operating system limitations, interoperability challenges, parallel filesystem overheads due to the small file system accesses common in scripted approaches, and other issues. We present here a new approach to these problems in which the Swift scripting system is used to integrate high-level scripts written in Python, R, and Tcl, with native code developed in C, C++, and Fortran, by linking Swift to the library interfaces to the script interpreters. In this approach, Swift handles data management, movement, and marshaling among distributed-memory processes without direct user manipulation of low-level communication libraries such as MPI. We present a technique to efficiently launch scripted applications on large-scale supercomputers using a hierarchical programming model.
Visions in Theoretical Computer Science: A Report on the TCS Visioning Workshop 2020
Venue: arXiv cs.CY 2021
Year: 2021

Theoretical computer science (TCS) is a subdiscipline of computer science that studies the mathematical foundations of computational and algorithmic processes and interactions. Work in this field is often recognized by its emphasis on mathematical technique and rigor. At the heart of the field are questions surrounding the nature of computation: What does it mean to compute? What is computable? And how efficiently? Every ten years or so the TCS community attends visioning workshops to discuss the challenges and recent accomplishments in the TCS field. The workshops and the outputs they produce are meant both as a reflection for the TCS community and as guiding principles for interested investment partners. Concretely, the workshop output consists of a number of nuggets, each summarizing a particular point, that are synthesized in the form of a white paper and illustrated with graphics/slides produced by a professional graphic designer. The second TCS Visioning Workshop was organized by the SIGACT Committee for the Advancement of Theoretical Computer Science and took place during the week of July 20, 2020. Despite the conference being virtual, there were over 76 participants, mostly from the United States, but also a few from Europe and Asia who were able to attend due to the online format. Workshop participants were divided into categories as reflected in the sections of this report: (1) models of computation; (2) foundations of data science; (3) cryptography; and (4) using theoretical computer science for other domains. Each group participated in a series of discussions that produced the nuggets below.
Data Lake Ingestion Management
Venue: arXiv cs.DB 2021
Year: 2021

Data Lake (DL) is a Big Data analysis solution which ingests raw data in their native format and allows users to process these data upon usage. Data ingestion is not a simple copy and paste of data, it is a complicated and important phase to ensure that ingested data are findable, accessible, interoperable and reusable at all times. Our solution is threefold. Firstly, we propose a metadata model that includes information about external data sources, data ingestion processes, ingested data, dataset veracity and dataset security. Secondly, we present the algorithms that ensure the ingestion phase (data storage and metadata instanciation). Thirdly, we introduce a developed metadata management system whereby users can easily consult different elements stored in DL.
SiMPLeR: A Series-Elastic Manipulator with Passive Variable Stiffness for Legged Robots
Venue: arXiv cs.RO 2021
Year: 2021

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness actuators are either complicated or mimicked at low bandwidth through feedback controllers. A robust and simple design is needed to build reliable and cheap robots with animal capabilities. The key insight of our design is attaching torsional springs to timing belts to create a variable stiffness linear spring. In an antagonistic pair, varying the distance between motor and joint then varies the actuator stiffness. We build a prototype of our proposed actuator, show the theoretical behavior matches the experimental characterization, and demonstrate an application to robotic one-legged hopping.
Do Small Firms Implement Enterprise Systems Differently? The Case of E-Silk Route Ventures
Venue: arXiv cs.DC 2021
Year: 2021

The cost effectiveness, ease of learning, connectedness and in-depth analytical capabilities provided through cloud computing technologies, have provided small firms the opportunity to implement enterprise systems (ES), which was reserved only for the much resourceful firms. However, it is evident that small firms are still struggling to attain purported benefits of ES and still find it difficult to manage complexities of ES implementations. Further, limited research has been conducted that discusses ES implementation in small firms. This research is an attempt to further the understanding of ES-implementation of small firms and re-evaluate the applicability of fundamental critical success factors to small firms.
E-PixelHop: An Enhanced PixelHop Method for Object Classification
Venue: arXiv cs.CV 2021
Year: 2021

Based on PixelHop and PixelHop++, which are recently developed using the successive subspace learning (SSL) framework, we propose an enhanced solution for object classification, called E-PixelHop, in this work. E-PixelHop consists of the following steps. First, to decouple the color channels for a color image, we apply principle component analysis and project RGB three color channels onto two principle subspaces which are processed separately for classification. Second, to address the importance of multi-scale features, we conduct pixel-level classification at each hop with various receptive fields. Third, to further improve pixel-level classification accuracy, we develop a supervised label smoothing (SLS) scheme to ensure prediction consistency. Forth, pixel-level decisions from each hop and from each color subspace are fused together for image-level decision. Fifth, to resolve confusing classes for further performance boosting, we formulate E-PixelHop as a two-stage pipeline. In the first stage, multi-class classification is performed to get a soft decision for each class, where the top 2 classes with the highest probabilities are called confusing classes. Then,we conduct a binary classification in the second stage. The main contributions lie in Steps 1, 3 and 5.We use the classification of the CIFAR-10 dataset as an example to demonstrate the effectiveness of the above-mentioned key components of E-PixelHop.
Real-time Semantic 3D Dense Occupancy Mapping with Efficient Free Space Representations
Venue: arXiv cs.RO 2021
Year: 2021

A real-time semantic 3D occupancy mapping framework is proposed in this paper. The mapping framework is based on the Bayesian kernel inference strategy from the literature. Two novel free space representations are proposed to efficiently construct training data and improve the mapping speed, which is a major bottleneck for real-world deployments. Our method achieves real-time mapping even on a consumer-grade CPU. Another important benefit is that our method can handle dynamic scenarios, thanks to the coverage completeness of the proposed algorithm. Experiments on real-world point cloud scan datasets are presented.
A Dual-Port 8-T CAM-Based Network Intrusion Detection Engine for IoT
Venue: arXiv cs.CR 2021
Year: 2021

This letter presents an energy- and memory-efficient pattern-matching engine for a network intrusion detection system (NIDS) in the Internet of Things. Tightly coupled architecture and circuit co-designs are proposed to fully exploit the statistical behaviors of NIDS pattern matching. The proposed engine performs pattern matching in three phases, where the phase-1 prefix matching employs reconfigurable pipelined automata processing to minimize memory footprint without loss of throughput and efficiency. The processing elements utilize 8-T content-addressable memory (CAM) cells for dual-port search by leveraging proposed fixed-1s encoding. A 65-nm prototype demonstrates best-in-class 1.54-fJ energy per search per pattern byte and 0.9-byte memory usage per pattern byte.
PoseRN: A 2D pose refinement network for bias-free multi-view 3D human pose estimation
Venue: arXiv cs.CV 2021
Year: 2021

We propose a new 2D pose refinement network that learns to predict the human bias in the estimated 2D pose. There are biases in 2D pose estimations that are due to differences between annotations of 2D joint locations based on annotators' perception and those defined by motion capture (MoCap) systems. These biases are crafted into publicly available 2D pose datasets and cannot be removed with existing error reduction approaches. Our proposed pose refinement network allows us to efficiently remove the human bias in the estimated 2D poses and achieve highly accurate multi-view 3D human pose estimation.
Evaluating the progress of Deep Reinforcement Learning in the real world: aligning domain-agnostic and domain-specific research
Venue: arXiv cs.LG 2021
Year: 2021

Deep Reinforcement Learning (DRL) is considered a potential framework to improve many real-world autonomous systems; it has attracted the attention of multiple and diverse fields. Nevertheless, the successful deployment in the real world is a test most of DRL models still need to pass. In this work we focus on this issue by reviewing and evaluating the research efforts from both domain-agnostic and domain-specific communities. On one hand, we offer a comprehensive summary of DRL challenges and summarize the different proposals to mitigate them; this helps identifying five gaps of domain-agnostic research. On the other hand, from the domain-specific perspective, we discuss different success stories and argue why other models might fail to be deployed. Finally, we take up on ways to move forward accounting for both perspectives.
Cellular, Wide-Area, and Non-Terrestrial IoT: A Survey on 5G Advances and the Road Towards 6G
Venue: arXiv cs.NI 2021
Year: 2021

The next wave of wireless technologies is proliferating in connecting things among themselves as well as to humans. In the era of the Internet of things (IoT), billions of sensors, machines, vehicles, drones, and robots will be connected, making the world around us smarter. The IoT will encompass devices that must wirelessly communicate a diverse set of data gathered from the environment for myriad new applications. The ultimate goal is to extract insights from this data and develop solutions that improve quality of life and generate new revenue. Providing large-scale, long-lasting, reliable, and near real-time connectivity is the major challenge in enabling a smart connected world. This paper provides a comprehensive survey on existing and emerging communication solutions for serving IoT applications in the context of cellular, wide-area, as well as non-terrestrial networks. Specifically, wireless technology enhancements for providing IoT access in fifth-generation (5G) and beyond cellular networks, and communication networks over the unlicensed spectrum are presented. Aligned with the main key performance indicators of 5G and beyond 5G networks, we investigate solutions and standards that enable energy efficiency, reliability, low latency, and scalability (connection density) of current and future IoT networks. The solutions include grant-free access and channel coding for short-packet communications, non-orthogonal multiple access, and on-device intelligence. Further, a vision of new paradigm shifts in communication networks in the 2030s is provided, and the integration of the associated new technologies like artificial intelligence, non-terrestrial networks, and new spectra is elaborated. Finally, future research directions toward beyond 5G IoT networks are pointed out.