Like many optimizers, Bayesian optimization often falls short of gaining user trust due to opacity. While attempts have been made to develop human-centric optimizers, they typically assume user knowledge is well-specified and error-free, employing users mainly as supervisors of the optimization process. We relax these assumptions and propose a more balanced human-AI partnership with our Collaborative and Explainable Bayesian Optimization (CoExBO) framework. Instead of explicitly requiring a user to provide a knowledge model, CoExBO employs preference learning to seamlessly integrate human insights into the optimization, resulting in algorithmic suggestions that resonate with user preference. CoExBO explains its candidate selection every iteration to foster trust, empowering users with a clearer grasp of the optimization. Furthermore, CoExBO offers a no-harm guarantee, allowing users to make mistakes; even with extreme adversarial interventions, the algorithm converges asymptotically to a vanilla Bayesian optimization. We validate CoExBO's efficacy through human-AI teaming experiments in lithium-ion battery design, highlighting substantial improvements over conventional methods.
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Robot perception is far from what humans are capable of. Humans do not only have a complex semantic scene understanding but also extract fine-grained intra-object properties for the salient ones. When humans look at plants, they naturally perceive the plant architecture with its individual leaves and branching system. In this work, we want to advance the granularity in plant understanding for agricultural precision robots. We develop a model to extract fine-grained phenotypic information, such as leaf-, stem-, and vein instances. The underlying dataset RumexLeaves is made publicly available and is the first of its kind with keypoint-guided polyline annotations leading along the line from the lowest stem point along the leaf basal to the leaf apex. Furthermore, we introduce an adapted metric POKS complying with the concept of keypoint-guided polylines. In our experimental evaluation, we provide baseline results for our newly introduced dataset while showcasing the benefits of POKS over OKS.
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic objects. In this paper, we take the initiative to consider the obstacle avoidance of UAVs in dynamic cluttered environments in which dynamic objects are the dominant objects. This type of environment poses significant challenges to both perception and planning. Multiple dynamic objects possess various motions, making it extremely difficult to estimate and predict their motions using one motion model. The planning must be highly efficient to avoid cluttered dynamic objects. This paper proposes Fast and Adaptive Perception and Planning (FAPP) for UAVs flying in complex dynamic cluttered environments. A novel and efficient point cloud segmentation strategy is proposed to distinguish static and dynamic objects. To address multiple dynamic objects with different motions, an adaptive estimation method with covariance adaptation is proposed to quickly and accurately predict their motions. Our proposed trajectory optimization algorithm is highly efficient, enabling it to avoid fast objects. Furthermore, an adaptive re-planning method is proposed to address the case when the trajectory optimization cannot find a feasible solution, which is common for dynamic cluttered environments. Extensive validations in both simulation and real-world experiments demonstrate the effectiveness of our proposed system for highly dynamic and cluttered environments.
Current compilers implement security features and optimizations that require nontrivial semantic reasoning about pointers and memory allocation: the program after the insertion of the security feature, or after applying the optimization, must simulate the original program despite a different memory layout. In this article, we illustrate such reasoning on pointer allocations through memory extensions and injections, as well as fine points on undefined values, by explaining how we implemented and proved correct two security features (stack canaries and pointer authentication) and one optimization (tail recursion elimination) in the CompCert formally verified compiler.
Solving complicated AI tasks with different domains and modalities is a key step toward artificial general intelligence. While there are abundant AI models available for different domains and modalities, they cannot handle complicated AI tasks. Considering large language models (LLMs) have exhibited exceptional ability in language understanding, generation, interaction, and reasoning, we advocate that LLMs could act as a controller to manage existing AI models to solve complicated AI tasks and language could be a generic interface to empower this. Based on this philosophy, we present HuggingGPT, a framework that leverages LLMs (e.g., ChatGPT) to connect various AI models in machine learning communities (e.g., Hugging Face) to solve AI tasks. Specifically, we use ChatGPT to conduct task planning when receiving a user request, select models according to their function descriptions available in Hugging Face, execute each subtask with the selected AI model, and summarize the response according to the execution results. By leveraging the strong language capability of ChatGPT and abundant AI models in Hugging Face, HuggingGPT is able to cover numerous sophisticated AI tasks in different modalities and domains and achieve impressive results in language, vision, speech, and other challenging tasks, which paves a new way towards artificial general intelligence.
Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.
Recently, Mutual Information (MI) has attracted attention in bounding the generalization error of Deep Neural Networks (DNNs). However, it is intractable to accurately estimate the MI in DNNs, thus most previous works have to relax the MI bound, which in turn weakens the information theoretic explanation for generalization. To address the limitation, this paper introduces a probabilistic representation of DNNs for accurately estimating the MI. Leveraging the proposed MI estimator, we validate the information theoretic explanation for generalization, and derive a tighter generalization bound than the state-of-the-art relaxations.
Deployment of Internet of Things (IoT) devices and Data Fusion techniques have gained popularity in public and government domains. This usually requires capturing and consolidating data from multiple sources. As datasets do not necessarily originate from identical sensors, fused data typically results in a complex data problem. Because military is investigating how heterogeneous IoT devices can aid processes and tasks, we investigate a multi-sensor approach. Moreover, we propose a signal to image encoding approach to transform information (signal) to integrate (fuse) data from IoT wearable devices to an image which is invertible and easier to visualize supporting decision making. Furthermore, we investigate the challenge of enabling an intelligent identification and detection operation and demonstrate the feasibility of the proposed Deep Learning and Anomaly Detection models that can support future application that utilizes hand gesture data from wearable devices.
Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
Many natural language processing tasks solely rely on sparse dependencies between a few tokens in a sentence. Soft attention mechanisms show promising performance in modeling local/global dependencies by soft probabilities between every two tokens, but they are not effective and efficient when applied to long sentences. By contrast, hard attention mechanisms directly select a subset of tokens but are difficult and inefficient to train due to their combinatorial nature. In this paper, we integrate both soft and hard attention into one context fusion model, "reinforced self-attention (ReSA)", for the mutual benefit of each other. In ReSA, a hard attention trims a sequence for a soft self-attention to process, while the soft attention feeds reward signals back to facilitate the training of the hard one. For this purpose, we develop a novel hard attention called "reinforced sequence sampling (RSS)", selecting tokens in parallel and trained via policy gradient. Using two RSS modules, ReSA efficiently extracts the sparse dependencies between each pair of selected tokens. We finally propose an RNN/CNN-free sentence-encoding model, "reinforced self-attention network (ReSAN)", solely based on ReSA. It achieves state-of-the-art performance on both Stanford Natural Language Inference (SNLI) and Sentences Involving Compositional Knowledge (SICK) datasets.
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