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In this paper, we argue that current work has failed to provide a comprehensive and maintainable in-memory representation for persistent memory. PM data should be easily mappable into a process address space, shareable across processes, shippable between machines, consistent after a crash, and accessible to legacy code with fast, efficient pointers as first-class abstractions. While existing systems have provided niceties like mmap()-based load/store access, they have not been able to support all these necessary properties due to conflicting requirements. We propose Puddles, a new persistent memory abstraction, to solve these problems. Puddles provide application-independent recovery after a power outage; they make recovery from a system failure a system-level property of the stored data rather than the responsibility of the programs that access it. Puddles use native pointers, so they are compatible with existing code. Finally, Puddles implement support for sharing and shipping of PM data between processes and systems without expensive serialization and deserialization. Compared to existing systems, Puddles are at least as fast as and up to 1.34$\times$ faster than PMDK while being competitive with other PM libraries across YCSB workloads. Moreover, to demonstrate Puddles' ability to relocate data, we showcase a sensor network data-aggregation workload that results in a 4.7$\times$ speedup over PMDK.

In this paper, we identify and characterize the emerging area of representation engineering (RepE), an approach to enhancing the transparency of AI systems that draws on insights from cognitive neuroscience. RepE places population-level representations, rather than neurons or circuits, at the center of analysis, equipping us with novel methods for monitoring and manipulating high-level cognitive phenomena in deep neural networks (DNNs). We provide baselines and an initial analysis of RepE techniques, showing that they offer simple yet effective solutions for improving our understanding and control of large language models. We showcase how these methods can provide traction on a wide range of safety-relevant problems, including honesty, harmlessness, power-seeking, and more, demonstrating the promise of top-down transparency research. We hope that this work catalyzes further exploration of RepE and fosters advancements in the transparency and safety of AI systems.

In this paper, we address the problem of sim-to-real transfer for object segmentation when there is no access to real examples of an object of interest during training, i.e. zero-shot sim-to-real transfer for segmentation. We focus on the application of shipwreck segmentation in side scan sonar imagery. Our novel segmentation network, STARS, addresses this challenge by fusing a predicted deformation field and anomaly volume, allowing it to generalize better to real sonar images and achieve more effective zero-shot sim-to-real transfer for image segmentation. We evaluate the sim-to-real transfer capabilities of our method on a real, expert-labeled side scan sonar dataset of shipwrecks collected from field work surveys with an autonomous underwater vehicle (AUV). STARS is trained entirely in simulation and performs zero-shot shipwreck segmentation with no additional fine-tuning on real data. Our method provides a significant 20% increase in segmentation performance for the targeted shipwreck class compared to the best baseline.

In this paper, we propose a vision-based solution for indoor Micro Air Vehicle (MAV) navigation, with a primary focus on its application within autonomous warehouses. Our work centers on the utilization of a single camera as the primary sensor for tasks such as detection, localization, and path planning. To achieve these objectives, we implement the HSV color detection and the Hough Line Transform for effective line detection within warehouse environments. The integration of a Kalman filter into our system enables the camera to track yellow lines reliably. We evaluated the performance of our vision-based line following algorithm through various MAV flight tests conducted in the Gazebo 11 platform, utilizing ROS Noetic. The results of these simulations demonstrate the system capability to successfully navigate narrow indoor spaces. Our proposed system has the potential to significantly reduce labor costs and enhance overall productivity in warehouse operations. This work contributes to the growing field of MAV applications in autonomous warehouses, addressing the need for efficient logistics and supply chain solutions.

In this work we develop a novel approach using deep neural networks to reconstruct the conductivity distribution in elliptic problems from one measurement of the solution over the whole domain. The approach is based on a mixed reformulation of the governing equation and utilizes the standard least-squares objective, with deep neural networks as ansatz functions to approximate the conductivity and flux simultaneously. We provide a thorough analysis of the deep neural network approximations of the conductivity for both continuous and empirical losses, including rigorous error estimates that are explicit in terms of the noise level, various penalty parameters and neural network architectural parameters (depth, width and parameter bound). We also provide multiple numerical experiments in two- and multi-dimensions to illustrate distinct features of the approach, e.g., excellent stability with respect to data noise and capability of solving high-dimensional problems.

This paper examines the problem of information routing in a large-scale communication network, which can be formulated as a constrained statistical learning problem having access to only local information. We delineate a novel State Augmentation (SA) strategy to maximize the aggregate information at source nodes using graph neural network (GNN) architectures, by deploying graph convolutions over the topological links of the communication network. The proposed technique leverages only the local information available at each node and efficiently routes desired information to the destination nodes. We leverage an unsupervised learning procedure to convert the output of the GNN architecture to optimal information routing strategies. In the experiments, we perform the evaluation on real-time network topologies to validate our algorithms. Numerical simulations depict the improved performance of the proposed method in training a GNN parameterization as compared to baseline algorithms.

In this paper, we investigate the problem of fast spectrum sharing in vehicle-to-everything communication. In order to improve the spectrum efficiency of the whole system, the spectrum of vehicle-to-infrastructure links is reused by vehicle-to-vehicle links. To this end, we model it as a problem of deep reinforcement learning and tackle it with proximal policy optimization. A considerable number of interactions are often required for training an agent with good performance, so simulation-based training is commonly used in communication networks. Nevertheless, severe performance degradation may occur when the agent is directly deployed in the real world, even though it can perform well on the simulator, due to the reality gap between the simulation and the real environments. To address this issue, we make preliminary efforts by proposing an algorithm based on meta reinforcement learning. This algorithm enables the agent to rapidly adapt to a new task with the knowledge extracted from similar tasks, leading to fewer interactions and less training time. Numerical results show that our method achieves near-optimal performance and exhibits rapid convergence.

Along with the rise of domain-specific computing (ASICs hardware) and domain-specific programming languages, we envision that the next step is the emergence of domain-specific cloud platforms. Developing such platforms for popular applications in the serverless manner, not only can offer a higher efficiency to both users and providers, it can also expedite the application development cycles and enable users to become solution-oriented and focus on their specific business logic. Considering multimedia streaming as one of the most trendy applications in the IT industry, the goal of this study is to develop SMSE, the first domain-specific serverless platform for multimedia streaming. SMSE democratizes multimedia service development via enabling content providers (or even end-users) to rapidly develop their desired functionalities on their multimedia contents. Upon developing SMSE, the next goal of this study is to deal with its efficiency challenges and develop a function container provisioning method that can efficiently utilize cloud resources and improve the users' QoS. In particular, we develop a dynamic method that provisions durable or ephemeral containers depending on the spatiotemporal and data-dependency characteristics of the functions. Evaluating the prototype implementation of SMSE under real-world settings demonstrates its capability to reduce both the containerization overhead, and the makespan time of serving multimedia processing functions (by up to 30%) in compare to the function provision methods that are being used in the general-purpose serverless cloud systems.

In this work we introduce the CitrusFarm dataset, a comprehensive multimodal sensory dataset collected by a wheeled mobile robot operating in agricultural fields. The dataset offers stereo RGB images with depth information, as well as monochrome, near-infrared and thermal images, presenting diverse spectral responses crucial for agricultural research. Furthermore, it provides a range of navigational sensor data encompassing wheel odometry, LiDAR, inertial measurement unit (IMU), and GNSS with Real-Time Kinematic (RTK) as the centimeter-level positioning ground truth. The dataset comprises seven sequences collected in three fields of citrus trees, featuring various tree species at different growth stages, distinctive planting patterns, as well as varying daylight conditions. It spans a total operation time of 1.7 hours, covers a distance of 7.5 km, and constitutes 1.3 TB of data. We anticipate that this dataset can facilitate the development of autonomous robot systems operating in agricultural tree environments, especially for localization, mapping and crop monitoring tasks. Moreover, the rich sensing modalities offered in this dataset can also support research in a range of robotics and computer vision tasks, such as place recognition, scene understanding, object detection and segmentation, and multimodal learning. The dataset, in conjunction with related tools and resources, is made publicly available at //github.com/UCR-Robotics/Citrus-Farm-Dataset.

This paper proposes a recommender system to alleviate the cold-start problem that can estimate user preferences based on only a small number of items. To identify a user's preference in the cold state, existing recommender systems, such as Netflix, initially provide items to a user; we call those items evidence candidates. Recommendations are then made based on the items selected by the user. Previous recommendation studies have two limitations: (1) the users who consumed a few items have poor recommendations and (2) inadequate evidence candidates are used to identify user preferences. We propose a meta-learning-based recommender system called MeLU to overcome these two limitations. From meta-learning, which can rapidly adopt new task with a few examples, MeLU can estimate new user's preferences with a few consumed items. In addition, we provide an evidence candidate selection strategy that determines distinguishing items for customized preference estimation. We validate MeLU with two benchmark datasets, and the proposed model reduces at least 5.92% mean absolute error than two comparative models on the datasets. We also conduct a user study experiment to verify the evidence selection strategy.