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Deep neural network-based image classifications are vulnerable to adversarial perturbations. The image classifications can be easily fooled by adding artificial small and imperceptible perturbations to input images. As one of the most effective defense strategies, adversarial training was proposed to address the vulnerability of classification models, where the adversarial examples are created and injected into training data during training. The attack and defense of classification models have been intensively studied in past years. Semantic segmentation, as an extension of classifications, has also received great attention recently. Recent work shows a large number of attack iterations are required to create effective adversarial examples to fool segmentation models. The observation makes both robustness evaluation and adversarial training on segmentation models challenging. In this work, we propose an effective and efficient segmentation attack method, dubbed SegPGD. Besides, we provide a convergence analysis to show the proposed SegPGD can create more effective adversarial examples than PGD under the same number of attack iterations. Furthermore, we propose to apply our SegPGD as the underlying attack method for segmentation adversarial training. Since SegPGD can create more effective adversarial examples, the adversarial training with our SegPGD can boost the robustness of segmentation models. Our proposals are also verified with experiments on popular Segmentation model architectures and standard segmentation datasets.

Multi-view stereo is an important research task in computer vision while still keeping challenging. In recent years, deep learning-based methods have shown superior performance on this task. Cost volume pyramid network-based methods which progressively refine depth map in coarse-to-fine manner, have yielded promising results while consuming less memory. However, these methods fail to take fully consideration of the characteristics of the cost volumes in each stage, leading to adopt similar range search strategies for each cost volume stage. In this work, we present a novel cost volume pyramid based network with different searching strategies for multi-view stereo. By choosing different depth range sampling strategies and applying adaptive unimodal filtering, we are able to obtain more accurate depth estimation in low resolution stages and iteratively upsample depth map to arbitrary resolution. We conducted extensive experiments on both DTU and BlendedMVS datasets, and results show that our method outperforms most state-of-the-art methods.

Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low efficiency and high failure rates. To address these, we present a generic framework called GE-Grasp for robotic motion planning in dense clutter, where we leverage diverse action primitives for occluded object removal and present the generator-evaluator architecture to avoid spatial collisions. Therefore, our GE-Grasp is capable of grasping objects in dense clutter efficiently with promising success rates. Specifically, we define three action primitives: target-oriented grasping for target capturing, pushing, and nontarget-oriented grasping to reduce the crowdedness and occlusions. The generators effectively provide various action candidates referring to the spatial information. Meanwhile, the evaluators assess the selected action primitive candidates, where the optimal action is implemented by the robot. Extensive experiments in simulated and real-world environments show that our approach outperforms the state-of-the-art methods of grasping in clutter with respect to motion efficiency and success rates. Moreover, we achieve comparable performance in the real world as that in the simulation environment, which indicates the strong generalization ability of our GE-Grasp. Supplementary material is available at: //github.com/CaptainWuDaoKou/GE-Grasp.

Graph neural networks (GNNs), which have emerged as an effective method for handling machine learning tasks on graphs, bring a new approach to building recommender systems, where the task of recommendation can be formulated as the link prediction problem on user-item bipartite graphs. Training GNN-based recommender systems (GNNRecSys) on large graphs incurs a large memory footprint, easily exceeding the DRAM capacity on a typical server. Existing solutions resort to distributed subgraph training, which is inefficient due to the high cost of dynamically constructing subgraphs and significant redundancy across subgraphs. The emerging Intel Optane persistent memory allows a single machine to have up to 6 TB of memory at an affordable cost, thus making single-machine GNNRecSys training feasible, which eliminates the inefficiencies in distributed training. One major concern of using Optane for GNNRecSys is Optane's relatively low bandwidth compared with DRAMs. This limitation can be particularly detrimental to achieving high performance for GNNRecSys workloads since their dominant compute kernels are sparse and memory access intensive. To understand whether Optane is a good fit for GNNRecSys training, we perform an in-depth characterization of GNNRecSys workloads and a comprehensive benchmarking study. Our benchmarking results show that when properly configured, Optane-based single-machine GNNRecSys training outperforms distributed training by a large margin, especially when handling deep GNN models. We analyze where the speedup comes from, provide guidance on how to configure Optane for GNNRecSys workloads, and discuss opportunities for further optimizations.

As an essential element for log analysis, the system kernel-based event can be effectively employed in the hybrid computing environment integrated with cloud, edge, and endpoint for intelligent threat detection. However, the issues of massiveness, heterogeneity, and semantic redundancy have become the biggest challenges in event-based security analysis. Unfortunately, there is no comprehensive tool to collect and analyze its kernel logs for the widely used OS Windows. This paper proposes a kernel-based event log collector named Kellect, a multi-thread tool built on ETW(events tracing for Windwos). Kellect can provide very compressed but most valuable kernel event data for general-purpose analysis on software anomaly detection. Experimental results in real-world show that Kellect can collect kernel event logs generated from FileIO, Process, Thread, Images, Register, and Network, with efficient and lossless. The total performance is three times higher than that of existing tools. The CPU cost stays only at around 1%, while the memory consumption is less than 50MB. As an important application case, the data collected by Kellect is proved to be utilized to build proper model to detect APT after transformed into provenance graphs with complete semantics. At last, a large experiments for the full techniques from ATT&CK are conducted, and the full relevant log dataset is collected using Kellect. To our best knowledge, it is the first precise and public benchmark sample dataset for kernel event-based APT detection.

GPU technology has been improving at an expedited pace in terms of size and performance, empowering HPC and AI/ML researchers to advance the scientific discovery process. However, this also leads to inefficient resource usage, as most GPU workloads, including complicated AI/ML models, are not able to utilize the GPU resources to their fullest extent. We propose MISO, a technique to exploit the Multi-Instance GPU (MIG) capability of NVIDIA A100 GPUs to dynamically partition GPU resources among co-located jobs. MISO's key insight is to use the lightweight, more flexible Multi-Process Service (MPS) capability to predict the best MIG partition allocation for different jobs, without incurring the overhead of implementing them during exploration. Due to its ability to utilize GPU resources more efficiently, MISO achieves 49% and 16% lower average job completion time than the unpartitioned and optimal static GPU partition schemes, respectively.

This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching velocities above 75 $m/s$. The used offline global trajectory generation and the online model predictive controller are highly based on optimization and dynamic models of the vehicle, where the tires and camber effects are represented in an extended version of the basic Pacejka Magic Formula. The proposed single-track model is identified and validated using multi-body motorsport libraries which allow simulating the vehicle dynamics properly, especially useful when real experimental data are missing. The fundamental regularization terms and constraints of the controller are tuned to reduce the rate of change of the inputs while assuring an acceptable velocity and path tracking. The motion planning strategy consists of a Fren\'et-Frame-based planner which considers a forecast of the opponent produced by a Kalman filter. The planner chooses the collision-free path and velocity profile to be tracked on a 3 seconds horizon to realize different goals such as following and overtaking. The proposed solution has been applied on a Dallara AV-21 racecar and tested at oval race tracks achieving lateral accelerations up to 25 $m/s^{2}$.

Acceleration of Convolutional Neural Network (CNN) on edge devices has recently achieved a remarkable performance in image classification and object detection applications. This paper proposes an efficient and scalable CNN-based SoC-FPGA accelerator design that takes pre-trained weights with a 16-bit fixed-point quantization and target hardware specification to generate an optimized template capable of achieving higher performance versus resource utilization trade-off. The template analyzed the computational workload, data dependency, and external memory bandwidth and utilized loop tiling transformation along with dataflow modeling to convert convolutional and fully connected layers into vector multiplication between input and output feature maps, which resulted in a single compute unit on-chip. Furthermore, the accelerator was examined among AlexNet, VGG16, and LeNet networks and ran at 200-MHz with a peak performance of 230 GOP/s depending on ZYNQ boards and state-space exploration of different compute unit configurations during simulation and synthesis. Lastly, our proposed methodology was benchmarked against the previous development on Ultra96 for higher performance measurement.

Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They work asynchronously, sampling the scene with microsecond resolution and producing a stream of brightness changes. This unconventional output has sparked novel computer vision methods to unlock the camera's potential. We tackle the problem of event-based stereo 3D reconstruction for SLAM. Most event-based stereo methods try to exploit the camera's high temporal resolution and event simultaneity across cameras to establish matches and estimate depth. By contrast, we investigate how to estimate depth without explicit data association by fusing Disparity Space Images (DSIs) originated in efficient monocular methods. We develop fusion theory and apply it to design multi-camera 3D reconstruction algorithms that produce state-of-the-art results, as we confirm by comparing against four baseline methods and testing on a variety of available datasets.

It is challenging for artificial intelligence systems to achieve accurate video recognition under the scenario of low computation costs. Adaptive inference based efficient video recognition methods typically preview videos and focus on salient parts to reduce computation costs. Most existing works focus on complex networks learning with video classification based objectives. Taking all frames as positive samples, few of them pay attention to the discrimination between positive samples (salient frames) and negative samples (non-salient frames) in supervisions. To fill this gap, in this paper, we propose a novel Non-saliency Suppression Network (NSNet), which effectively suppresses the responses of non-salient frames. Specifically, on the frame level, effective pseudo labels that can distinguish between salient and non-salient frames are generated to guide the frame saliency learning. On the video level, a temporal attention module is learned under dual video-level supervisions on both the salient and the non-salient representations. Saliency measurements from both two levels are combined for exploitation of multi-granularity complementary information. Extensive experiments conducted on four well-known benchmarks verify our NSNet not only achieves the state-of-the-art accuracy-efficiency trade-off but also present a significantly faster (2.4~4.3x) practical inference speed than state-of-the-art methods. Our project page is at //lawrencexia2008.github.io/projects/nsnet .