The rising usage of AI and ML-based processing across application domains has exacerbated the need for low-cost ML implementation, specifically for resource-constrained embedded systems. To this end, approximate computing, an approach that explores the power, performance, area (PPA), and behavioral accuracy (BEHAV) trade-offs, has emerged as a possible solution for implementing embedded machine learning. Due to the predominance of MAC operations in ML, designing platform-specific approximate arithmetic operators forms one of the major research problems in approximate computing. Recently there has been a rising usage of AI/ML-based design space exploration techniques for implementing approximate operators. However, most of these approaches are limited to using ML-based surrogate functions for predicting the PPA and BEHAV impact of a set of related design decisions. While this approach leverages the regression capabilities of ML methods, it does not exploit the more advanced approaches in ML. To this end, we propose AxOCS, a methodology for designing approximate arithmetic operators through ML-based supersampling. Specifically, we present a method to leverage the correlation of PPA and BEHAV metrics across operators of varying bit-widths for generating larger bit-width operators. The proposed approach involves traversing the relatively smaller design space of smaller bit-width operators and employing its associated Design-PPA-BEHAV relationship to generate initial solutions for metaheuristics-based optimization for larger operators. The experimental evaluation of AxOCS for FPGA-optimized approximate operators shows that the proposed approach significantly improves the quality-resulting hypervolume for multi-objective optimization-of 8x8 signed approximate multipliers.
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Vision Transformers (ViTs) have revolutionized the field of computer vision, yet their deployments on resource-constrained devices remain challenging due to high computational demands. To expedite pre-trained ViTs, token pruning and token merging approaches have been developed, which aim at reducing the number of tokens involved in the computation. However, these methods still have some limitations, such as image information loss from pruned tokens and inefficiency in the token-matching process. In this paper, we introduce a novel Graph-based Token Propagation (GTP) method to resolve the challenge of balancing model efficiency and information preservation for efficient ViTs. Inspired by graph summarization algorithms, GTP meticulously propagates less significant tokens' information to spatially and semantically connected tokens that are of greater importance. Consequently, the remaining few tokens serve as a summarization of the entire token graph, allowing the method to reduce computational complexity while preserving essential information of eliminated tokens. Combined with an innovative token selection strategy, GTP can efficiently identify image tokens to be propagated. Extensive experiments have validated GTP's effectiveness, demonstrating both efficiency and performance improvements. Specifically, GTP decreases the computational complexity of both DeiT-S and DeiT-B by up to 26% with only a minimal 0.3% accuracy drop on ImageNet-1K without finetuning, and remarkably surpasses the state-of-the-art token merging method on various backbones at an even faster inference speed. The source code is available at //github.com/Ackesnal/GTP-ViT.
Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering. Key to their performance is the substantial prior knowledge acquired during training and their ability to reason over extended sequences of symbols, often presented in natural language. In this work, we aim to harness the extensive long-term reasoning, natural language comprehension, and the available prior knowledge of LLMs for increased resilience and adaptation in autonomous mobile robots. We introduce REAL, an approach for REsilience and Adaptation using LLMs. REAL provides a strategy to employ LLMs as a part of the mission planning and control framework of an autonomous robot. The LLM employed by REAL provides (i) a source of prior knowledge to increase resilience for challenging scenarios that the system had not been explicitly designed for; (ii) a way to interpret natural-language and other log/diagnostic information available in the autonomy stack, for mission planning; (iii) a way to adapt the control inputs using minimal user-provided prior knowledge about the dynamics/kinematics of the robot. We integrate REAL in the autonomy stack of a real multirotor, querying onboard an offboard LLM at 0.1-1.0 Hz as part the robot's mission planning and control feedback loops. We demonstrate in real-world experiments the ability of the LLM to reduce the position tracking errors of a multirotor under the presence of (i) errors in the parameters of the controller and (ii) unmodeled dynamics. We also show (iii) decision making to avoid potentially dangerous scenarios (e.g., robot oscillates) that had not been explicitly accounted for in the initial prompt design.
Data assimilation addresses the problem of identifying plausible state trajectories of dynamical systems given noisy or incomplete observations. In geosciences, it presents challenges due to the high-dimensionality of geophysical dynamical systems, often exceeding millions of dimensions. This work assesses the scalability of score-based data assimilation (SDA), a novel data assimilation method, in the context of such systems. We propose modifications to the score network architecture aimed at significantly reducing memory consumption and execution time. We demonstrate promising results for a two-layer quasi-geostrophic model.
Accurate latency computation is essential for the Internet of Things (IoT) since the connected devices generate a vast amount of data that is processed on cloud infrastructure. However, the cloud is not an optimal solution. To overcome this issue, fog computing is used to enable processing at the edge while still allowing communication with the cloud. Many applications rely on fog computing, including traffic management. In this paper, an Intelligent Traffic Congestion Mitigation System (ITCMS) is proposed to address traffic congestion in heavily populated smart cities. The proposed system is implemented using fog computing and tested in a crowded city. Its performance is evaluated based on multiple metrics, such as traffic efficiency, energy savings, reduced latency, average traffic flow rate, and waiting time. The obtained results are compared with similar techniques that tackle the same issue. The results obtained indicate that the execution time of the simulation is 4,538 seconds, and the delay in the application loop is 49.67 seconds. The paper addresses various issues, including CPU usage, heap memory usage, throughput, and the total average delay, which are essential for evaluating the performance of the ITCMS. Our system model is also compared with other models to assess its performance. A comparison is made using two parameters, namely throughput and the total average delay, between the ITCMS, IOV (Internet of Vehicle), and STL (Seasonal-Trend Decomposition Procedure based on LOESS). Consequently, the results confirm that the proposed system outperforms the others in terms of higher accuracy, lower latency, and improved traffic efficiency.
We present a scalable, bottom-up and intrinsically diverse data collection scheme that can be used for high-level reasoning with long and medium horizons and that has 2.2x higher throughput compared to traditional narrow top-down step-by-step collection. We collect realistic data by performing any user requests within the entirety of 3 office buildings and using multiple robot and human embodiments. With this data, we show that models trained on all embodiments perform better than ones trained on the robot data only, even when evaluated solely on robot episodes. We find that for a fixed collection budget it is beneficial to take advantage of cheaper human collection along with robot collection. We release a large and highly diverse (29,520 unique instructions) dataset dubbed RoboVQA containing 829,502 (video, text) pairs for robotics-focused visual question answering. We also demonstrate how evaluating real robot experiments with an intervention mechanism enables performing tasks to completion, making it deployable with human oversight even if imperfect while also providing a single performance metric. We demonstrate a single video-conditioned model named RoboVQA-VideoCoCa trained on our dataset that is capable of performing a variety of grounded high-level reasoning tasks in broad realistic settings with a cognitive intervention rate 46% lower than the zero-shot state of the art visual language model (VLM) baseline and is able to guide real robots through long-horizon tasks. The performance gap with zero-shot state-of-the-art models indicates that a lot of grounded data remains to be collected for real-world deployment, emphasizing the critical need for scalable data collection approaches. Finally, we show that video VLMs significantly outperform single-image VLMs with an average error rate reduction of 19% across all VQA tasks. Data and videos available at //robovqa.github.io
Knowledge-enhanced neural machine reasoning has garnered significant attention as a cutting-edge yet challenging research area with numerous practical applications. Over the past few years, plenty of studies have leveraged various forms of external knowledge to augment the reasoning capabilities of deep models, tackling challenges such as effective knowledge integration, implicit knowledge mining, and problems of tractability and optimization. However, there is a dearth of a comprehensive technical review of the existing knowledge-enhanced reasoning techniques across the diverse range of application domains. This survey provides an in-depth examination of recent advancements in the field, introducing a novel taxonomy that categorizes existing knowledge-enhanced methods into two primary categories and four subcategories. We systematically discuss these methods and highlight their correlations, strengths, and limitations. Finally, we elucidate the current application domains and provide insight into promising prospects for future research.
Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced object detection and tracking approaches have been widely applied to various UAV-related tasks, such as environmental monitoring, precision agriculture, traffic management. This paper provides a comprehensive survey on the research progress and prospects of DL-based UAV object detection and tracking methods. More specifically, we first outline the challenges, statistics of existing methods, and provide solutions from the perspectives of DL-based models in three research topics: object detection from the image, object detection from the video, and object tracking from the video. Open datasets related to UAV-dominated object detection and tracking are exhausted, and four benchmark datasets are employed for performance evaluation using some state-of-the-art methods. Finally, prospects and considerations for the future work are discussed and summarized. It is expected that this survey can facilitate those researchers who come from remote sensing field with an overview of DL-based UAV object detection and tracking methods, along with some thoughts on their further developments.
Multi-paragraph reasoning is indispensable for open-domain question answering (OpenQA), which receives less attention in the current OpenQA systems. In this work, we propose a knowledge-enhanced graph neural network (KGNN), which performs reasoning over multiple paragraphs with entities. To explicitly capture the entities' relatedness, KGNN utilizes relational facts in knowledge graph to build the entity graph. The experimental results show that KGNN outperforms in both distractor and full wiki settings than baselines methods on HotpotQA dataset. And our further analysis illustrates KGNN is effective and robust with more retrieved paragraphs.
The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.
Spectral clustering is a leading and popular technique in unsupervised data analysis. Two of its major limitations are scalability and generalization of the spectral embedding (i.e., out-of-sample-extension). In this paper we introduce a deep learning approach to spectral clustering that overcomes the above shortcomings. Our network, which we call SpectralNet, learns a map that embeds input data points into the eigenspace of their associated graph Laplacian matrix and subsequently clusters them. We train SpectralNet using a procedure that involves constrained stochastic optimization. Stochastic optimization allows it to scale to large datasets, while the constraints, which are implemented using a special-purpose output layer, allow us to keep the network output orthogonal. Moreover, the map learned by SpectralNet naturally generalizes the spectral embedding to unseen data points. To further improve the quality of the clustering, we replace the standard pairwise Gaussian affinities with affinities leaned from unlabeled data using a Siamese network. Additional improvement can be achieved by applying the network to code representations produced, e.g., by standard autoencoders. Our end-to-end learning procedure is fully unsupervised. In addition, we apply VC dimension theory to derive a lower bound on the size of SpectralNet. State-of-the-art clustering results are reported on the Reuters dataset. Our implementation is publicly available at //github.com/kstant0725/SpectralNet .
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