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Over the past few decades, interest in algorithms for face recognition has been growing rapidly and has even surpassed human-level performance. Despite their accomplishments, their practical integration with a real-time performance-hungry system is not feasible due to high computational costs. So in this paper, we explore the recent, fast, and accurate face recognition system that can be easily integrated with real-time devices, and tested the algorithms on robot hardware platforms to confirm their robustness and speed.

Multi-Agent Systems (MAS) are notoriously complex and hard to verify. In fact, it is not trivial to model a MAS, and even when a model is built, it is not always possible to verify, in a formal way, that it is actually behaving as we expect. Usually, it is relevant to know whether an agent is capable of fulfilling its own goals. One possible way to check this is through Model Checking. Specifically, by verifying Alternating-time Temporal Logic (ATL) properties, where the notion of strategies for achieving goals can be described. Unfortunately, the resulting model checking problem is not decidable in general. In this paper, we present a verification procedure based on combining Model Checking and Runtime Verification, where sub-models of the MAS model belonging to decidable fragments are verified by a model checker, and runtime monitors are used to verify the rest. Furthermore, we implement our technique and show experimental results.

Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization problem. To address these challenges, we propose a duality-based safety-critical optimal control using nonsmooth control barrier functions for obstacle avoidance between polytopes, which can be solved in real-time with a QP-based optimization problem. A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function. We validate the obstacle avoidance with the proposed dual formulation for L-shaped (sofa-shaped) controlled robot in a corridor environment. We demonstrate real-time tight obstacle avoidance with non-conservative maneuvers on a moving sofa (piano) problem with nonlinear dynamics.

We observe and analyze usage of the login nodes of the leadership class Summit supercomputer from the perspective of an ordinary user -- not a system administrator -- by periodically sampling user activities (job queues, running processes, etc.) for two full years (2020-2021). Our findings unveil key usage patterns that evidence misuse of the system, including gaming the policies, impairing I/O performance, and using login nodes as a sole computing resource. Our analysis highlights observed patterns for the execution of complex computations (workflows), which are key for processing large-scale applications.

The development of personalized recommendation has significantly improved the accuracy of information matching and the revenue of e-commerce platforms. Recently, it has 2 trends: 1) recommender systems must be trained timely to cope with ever-growing new products and ever-changing user interests from online marketing and social network; 2) SOTA recommendation models introduce DNN modules to improve prediction accuracy. Traditional CPU-based recommender systems cannot meet these two trends, and GPU- centric training has become a trending approach. However, we observe that GPU devices in training recommender systems are underutilized, and they cannot attain an expected throughput improvement as what it has achieved in CV and NLP areas. This issue can be explained by two characteristics of these recommendation models: First, they contain up to a thousand input feature fields, introducing fragmentary and memory-intensive operations; Second, the multiple constituent feature interaction submodules introduce substantial small-sized compute kernels. To remove this roadblock to the development of recommender systems, we propose a novel framework named PICASSO to accelerate the training of recommendation models on commodity hardware. Specifically, we conduct a systematic analysis to reveal the bottlenecks encountered in training recommendation models. We leverage the model structure and data distribution to unleash the potential of hardware through our packing, interleaving, and caching optimization. Experiments show that PICASSO increases the hardware utilization by an order of magnitude on the basis of SOTA baselines and brings up to 6x throughput improvement for a variety of industrial recommendation models. Using the same hardware budget in production, PICASSO on average shortens the walltime of daily training tasks by 7 hours, significantly reducing the delay of continuous delivery.

Requirements engineering (RE) activities for Machine Learning (ML) are not well-established and researched in the literature. Many issues and challenges exist when specifying, designing, and developing ML-enabled systems. Adding more focus on RE for ML can help to develop more reliable ML-enabled systems. Based on insights collected from previous work and industrial experiences, we propose a catalogue of 45 concerns to be considered when specifying ML-enabled systems, covering five different perspectives we identified as relevant for such systems: objectives, user experience, infrastructure, model, and data. Examples of such concerns include the execution engine and telemetry for the infrastructure perspective, and explainability and reproducibility for the model perspective. We conducted a focus group session with eight software professionals with experience developing ML-enabled systems to validate the importance, quality and feasibility of using our catalogue. The feedback allowed us to improve the catalogue and confirmed its practical relevance. The main research contribution of this work consists in providing a validated set of concerns grouped into perspectives that can be used by requirements engineers to support the specification of ML-enabled systems.

In this work, we present CEDR, a Compiler-integrated, Extensible Domain Specific System on Chip Runtime ecosystem to facilitate research towards addressing the challenges of architecture, system software and application development with distinct plug-and-play integration points in a unified compile time and run time workflow. We demonstrate the utility of CEDR on the Xilinx Zynq MPSoC-ZCU102 for evaluating performance of pre-silicon hardware in the trade space of SoC configuration, scheduling policy and workload complexity based on dynamically arriving workload scenarios composed of real-life signal processing applications scaling to thousands of application instances with FFT and matrix multiply accelerators. We provide insights into the trade-offs present in this design space through a number of distinct case studies. CEDR is portable and has been deployed and validated on Odroid-XU3, X86 and Nvidia Jetson Xavier based SoC platforms. Taken together, CEDR is a capable environment for enabling research in exploring the boundaries of productive application development, resource management heuristic development, and hardware configuration analysis for heterogeneous architectures.

Multi-camera vehicle tracking is one of the most complicated tasks in Computer Vision as it involves distinct tasks including Vehicle Detection, Tracking, and Re-identification. Despite the challenges, multi-camera vehicle tracking has immense potential in transportation applications including speed, volume, origin-destination (O-D), and routing data generation. Several recent works have addressed the multi-camera tracking problem. However, most of the effort has gone towards improving accuracy on high-quality benchmark datasets while disregarding lower camera resolutions, compression artifacts and the overwhelming amount of computational power and time needed to carry out this task on its edge and thus making it prohibitive for large-scale and real-time deployment. Therefore, in this work we shed light on practical issues that should be addressed for the design of a multi-camera tracking system to provide actionable and timely insights. Moreover, we propose a real-time city-scale multi-camera vehicle tracking system that compares favorably to computationally intensive alternatives and handles real-world, low-resolution CCTV instead of idealized and curated video streams. To show its effectiveness, in addition to integration into the Regional Integrated Transportation Information System (RITIS), we participated in the 2021 NVIDIA AI City multi-camera tracking challenge and our method is ranked among the top five performers on the public leaderboard.

Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this work, we present an energy-efficient and runtime-reconfigurable FPGA-based accelerator for robotic localization. We exploit SLAM-specific data locality, sparsity, reuse, and parallelism, and achieve >5x performance improvement over the state-of-the-art. Especially, our design is reconfigurable at runtime according to the environment to save power while sustaining accuracy and performance.

Since deep neural networks were developed, they have made huge contributions to everyday lives. Machine learning provides more rational advice than humans are capable of in almost every aspect of daily life. However, despite this achievement, the design and training of neural networks are still challenging and unpredictable procedures. To lower the technical thresholds for common users, automated hyper-parameter optimization (HPO) has become a popular topic in both academic and industrial areas. This paper provides a review of the most essential topics on HPO. The first section introduces the key hyper-parameters related to model training and structure, and discusses their importance and methods to define the value range. Then, the research focuses on major optimization algorithms and their applicability, covering their efficiency and accuracy especially for deep learning networks. This study next reviews major services and toolkits for HPO, comparing their support for state-of-the-art searching algorithms, feasibility with major deep learning frameworks, and extensibility for new modules designed by users. The paper concludes with problems that exist when HPO is applied to deep learning, a comparison between optimization algorithms, and prominent approaches for model evaluation with limited computational resources.