Shrinking pattern dimensions leads to an increased variety of defect types in semiconductor devices. This has spurred innovation in patterning approaches such as Directed self-assembly (DSA) for which no traditional, automatic defect inspection software exists. Machine Learning-based SEM image analysis has become an increasingly popular research topic for defect inspection with supervised ML models often showing the best performance. However, little research has been done on obtaining a dataset with high-quality labels for these supervised models. In this work, we propose a method for obtaining coherent and complete labels for a dataset of hexagonal contact hole DSA patterns while requiring minimal quality control effort from a DSA expert. We show that YOLOv8, a state-of-the-art neural network, achieves defect detection precisions of more than 0.9 mAP on our final dataset which best reflects DSA expert defect labeling expectations. We discuss the strengths and limitations of our proposed labeling approach and suggest directions for future work in data-centric ML-based defect inspection.
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Realistic reservoir simulation is known to be prohibitively expensive in terms of computation time when increasing the accuracy of the simulation or by enlarging the model grid size. One method to address this issue is to parallelize the computation by dividing the model in several partitions and using multiple CPUs to compute the result using techniques such as MPI and multi-threading. Alternatively, GPUs are also a good candidate to accelerate the computation due to their massively parallel architecture that allows many floating point operations per second to be performed. The numerical iterative solver takes thus the most computational time and is challenging to solve efficiently due to the dependencies that exist in the model between cells. In this work, we evaluate the OPM Flow simulator and compare several state-of-the-art GPU solver libraries as well as custom developed solutions for a BiCGStab solver using an ILU0 preconditioner and benchmark their performance against the default DUNE library implementation running on multiple CPU processors using MPI. The evaluated GPU software libraries include a manual linear solver in OpenCL and the integration of several third party sparse linear algebra libraries, such as cuSparse, rocSparse, and amgcl. To perform our bench-marking, we use small, medium, and large use cases, starting with the public test case NORNE that includes approximately 50k active cells and ending with a large model that includes approximately 1 million active cells. We find that a GPU can accelerate a single dual-threaded MPI process up to 5.6 times, and that it can compare with around 8 dual-threaded MPI processes.
Blockwise self-attentional encoder models have recently emerged as one promising end-to-end approach to simultaneous speech translation. These models employ a blockwise beam search with hypothesis reliability scoring to determine when to wait for more input speech before translating further. However, this method maintains multiple hypotheses until the entire speech input is consumed -- this scheme cannot directly show a single \textit{incremental} translation to users. Further, this method lacks mechanisms for \textit{controlling} the quality vs. latency tradeoff. We propose a modified incremental blockwise beam search incorporating local agreement or hold-$n$ policies for quality-latency control. We apply our framework to models trained for online or offline translation and demonstrate that both types can be effectively used in online mode. Experimental results on MuST-C show 0.6-3.6 BLEU improvement without changing latency or 0.8-1.4 s latency improvement without changing quality.
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic knowledge as priors into TOG pipelines. However, the existing semantic knowledge is typically constructed based on closed-world concept sets, restraining the generalization to novel concepts out of the pre-defined sets. To address this issue, we propose GraspGPT, a large language model (LLM) based TOG framework that leverages the open-end semantic knowledge from an LLM to achieve zero-shot generalization to novel concepts. We conduct experiments on Language Augmented TaskGrasp (LA-TaskGrasp) dataset and demonstrate that GraspGPT outperforms existing TOG methods on different held-out settings when generalizing to novel concepts out of the training set. The effectiveness of GraspGPT is further validated in real-robot experiments. Our code, data, appendix, and video are publicly available at //sites.google.com/view/graspgpt/.
Ordered sequences of data, specified with a join operation to combine sequences, serve as a foundation for the implementation of parallel functional algorithms. This abstract data type can be elegantly and efficiently implemented using balanced binary trees, where a join operation is provided to combine two trees and rebalance as necessary. In this work, we present a verified implementation and cost analysis of joinable red-black trees in $\textbf{calf}$, a dependent type theory for cost analysis. We implement red-black trees and auxiliary intermediate data structures in such a way that all correctness invariants are intrinsically maintained. Then, we describe and verify precise cost bounds on the operations, making use of the red-black tree invariants. Finally, we implement standard algorithms on sequences using the simple join-based signature and bound their cost in the case that red-black trees are used as the underlying implementation. All proofs are formally mechanized using the embedding of $\textbf{calf}$ in the Agda theorem prover.
Mobile manipulators have been used for inspection, maintenance and repair tasks over the years, but there are some key limitations. Stability concerns typically require mobile platforms to be large in order to handle far-reaching manipulators, or for the manipulators to have drastically reduced workspaces to fit onto smaller mobile platforms. Therefore we propose a combination of two widely-used robots, the Clearpath Jackal unmanned ground vehicle and the Kinova Gen3 six degree-of-freedom manipulator. The Jackal has a small footprint and works well in low-clearance indoor environments. Extensive testing of localization, navigation and mapping using LiDAR sensors makes the Jackal a well developed mobile platform suitable for mobile manipulation. The Gen3 has a long reach with reasonable power consumption for manipulation tasks. A wrist camera for RGB-D sensing and a customizable end effector interface makes the Gen3 suitable for a myriad of manipulation tasks. Typically these features would result in an unstable platform, however with a few minor hardware and software modifications, we have produced a stable, high-performance mobile manipulation platform with significant mobility, reach, sensing, and maneuverability for indoor inspection tasks, without degradation of the component robots' individual capabilities. These assertions were investigated with hardware via semi-autonomous navigation to waypoints in a busy indoor environment, and high-precision self-alignment alongside planar structures for intervention tasks.
The communities of blockchains and distributed ledgers have been stirred up by the introduction of zero-knowledge proofs (ZKPs). Originally designed to solve privacy issues, ZKPs have now evolved into an effective remedy for scalability concerns and are applied in Zcash (internet money like Bitcoin). To enable ZKPs, Rank-1 Constraint Systems (R1CS) offer a verifier for bi-linear equations. To accurately and efficiently represent R1CS, several language tools like Circom, Noir, and Snarky have been proposed to automate the compilation of advanced programs into R1CS. However, due to the flexible nature of R1CS representation, there can be significant differences in the compiled R1CS forms generated from circuit language programs with the same underlying semantics. To address this issue, this paper uses a data-flow-based R1CS paradigm algorithm, which produces a standardized format for different R1CS instances with identical semantics. By using the normalized R1CS format circuits, the complexity of circuits' verification can be reduced. In addition, this paper presents an R1CS normalization algorithm benchmark, and our experimental evaluation demonstrates the effectiveness and correctness of our methods.
Accurate analytical and numerical modeling of multiscale systems is a daunting task. The need to properly resolve spatial and temporal scales spanning multiple orders of magnitude pushes the limits of both our theoretical models as well as our computational capabilities. Rigorous upscaling techniques enable efficient computation while bounding/tracking errors and helping to make informed cost-accuracy tradeoffs. The biggest challenges arise when the applicability conditions of upscaled models break down. Here, we present a non-intrusive two-way (iterative bottom-up top-down) coupled hybrid model, applied to thermal runaway in battery packs, that combines fine-scale and upscaled equations in the same numerical simulation to achieve predictive accuracy while limiting computational costs. First, we develop two methods with different orders of accuracy to enforce continuity at the coupling boundary. Then, we derive weak (i.e., variational) formulations of the fine-scale and upscaled governing equations for finite element (FE) discretization and numerical implementation in FEniCS. We demonstrate that hybrid simulations can accurately predict the average temperature fields within error bounds determined a priori by homogenization theory. Finally, we demonstrate the computational efficiency of the hybrid algorithm against fine-scale simulations.
In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
Deep neural models in recent years have been successful in almost every field, including extremely complex problem statements. However, these models are huge in size, with millions (and even billions) of parameters, thus demanding more heavy computation power and failing to be deployed on edge devices. Besides, the performance boost is highly dependent on redundant labeled data. To achieve faster speeds and to handle the problems caused by the lack of data, knowledge distillation (KD) has been proposed to transfer information learned from one model to another. KD is often characterized by the so-called `Student-Teacher' (S-T) learning framework and has been broadly applied in model compression and knowledge transfer. This paper is about KD and S-T learning, which are being actively studied in recent years. First, we aim to provide explanations of what KD is and how/why it works. Then, we provide a comprehensive survey on the recent progress of KD methods together with S-T frameworks typically for vision tasks. In general, we consider some fundamental questions that have been driving this research area and thoroughly generalize the research progress and technical details. Additionally, we systematically analyze the research status of KD in vision applications. Finally, we discuss the potentials and open challenges of existing methods and prospect the future directions of KD and S-T learning.
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