Developing asynchronous neuromorphic hardware to meet the demands of diverse real-life edge scenarios remains significant challenges. These challenges include constraints on hardware resources and power budgets while satisfying the requirements for real-time responsiveness, reliable inference accuracy, and so on. Besides, the existing system-level simulators for asynchronous neuromorphic hardware suffer from runtime limitations. To address these challenges, we propose an Asynchronous Neuromorphic algorithm/hardware Co-Exploration Framework (ANCoEF) including multi-objective reinforcement learning (RL)-based hardware architecture optimization method, and a fully asynchronous simulator (TrueAsync) which achieves over 2 times runtime speedups than the state-of-the-art (SOTA) simulator. Our experimental results show that, the RL-based hardware architecture optimization approach of ANCoEF outperforms the SOTA method by reducing 1.81 times hardware energy-delay product (EDP) with 2.73 times less search time on N-MNIST dataset, and the co-exploration framework of ANCoEF improves SNN accuracy by 9.72% and reduces hardware EDP by 28.85 times compared to the SOTA work on DVS128Gesture dataset. Furthermore, ANCoEF framework is evaluated on external neuromorphic dataset CIFAR10-DVS, and static datasets including CIFAR10, CIFAR100, SVHN, and Tiny-ImageNet. For instance, after 26.23 ThreadHour of co-exploration process, the result on CIFAR10-DVS dataset achieves an SNN accuracy of 98.48% while consuming hardware EDP of 0.54 s nJ per sample.
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In the rapidly advancing realm of visual generation, diffusion models have revolutionized the landscape, marking a significant shift in capabilities with their impressive text-guided generative functions. However, relying solely on text for conditioning these models does not fully cater to the varied and complex requirements of different applications and scenarios. Acknowledging this shortfall, a variety of studies aim to control pre-trained text-to-image (T2I) models to support novel conditions. In this survey, we undertake a thorough review of the literature on controllable generation with T2I diffusion models, covering both the theoretical foundations and practical advancements in this domain. Our review begins with a brief introduction to the basics of denoising diffusion probabilistic models (DDPMs) and widely used T2I diffusion models. We then reveal the controlling mechanisms of diffusion models, theoretically analyzing how novel conditions are introduced into the denoising process for conditional generation. Additionally, we offer a detailed overview of research in this area, organizing it into distinct categories from the condition perspective: generation with specific conditions, generation with multiple conditions, and universal controllable generation. For an exhaustive list of the controllable generation literature surveyed, please refer to our curated repository at \url{//github.com/PRIV-Creation/Awesome-Controllable-T2I-Diffusion-Models}.
Knowledge Graphs (KGs) play a pivotal role in advancing various AI applications, with the semantic web community's exploration into multi-modal dimensions unlocking new avenues for innovation. In this survey, we carefully review over 300 articles, focusing on KG-aware research in two principal aspects: KG-driven Multi-Modal (KG4MM) learning, where KGs support multi-modal tasks, and Multi-Modal Knowledge Graph (MM4KG), which extends KG studies into the MMKG realm. We begin by defining KGs and MMKGs, then explore their construction progress. Our review includes two primary task categories: KG-aware multi-modal learning tasks, such as Image Classification and Visual Question Answering, and intrinsic MMKG tasks like Multi-modal Knowledge Graph Completion and Entity Alignment, highlighting specific research trajectories. For most of these tasks, we provide definitions, evaluation benchmarks, and additionally outline essential insights for conducting relevant research. Finally, we discuss current challenges and identify emerging trends, such as progress in Large Language Modeling and Multi-modal Pre-training strategies. This survey aims to serve as a comprehensive reference for researchers already involved in or considering delving into KG and multi-modal learning research, offering insights into the evolving landscape of MMKG research and supporting future work.
With the burgeoning growth of online video platforms and the escalating volume of video content, the demand for proficient video understanding tools has intensified markedly. With Large Language Models (LLMs) showcasing remarkable capabilities in key language tasks, this survey provides a detailed overview of the recent advancements in video understanding harnessing the power of LLMs (Vid-LLMs). The emergent capabilities of Vid-LLMs are surprisingly advanced, particularly their ability for open-ended spatial-temporal reasoning combined with commonsense knowledge, suggesting a promising path for future video understanding. We examine the unique characteristics and capabilities of Vid-LLMs, categorizing the approaches into four main types: LLM-based Video Agents, Vid-LLMs Pretraining, Vid-LLMs Instruction Tuning, and Hybrid Methods. Furthermore, this survey also presents a comprehensive study of the tasks and datasets for Vid-LLMs, along with the methodologies employed for evaluation. Additionally, the survey explores the expansive applications of Vid-LLMs across various domains, thereby showcasing their remarkable scalability and versatility in addressing challenges in real-world video understanding. Finally, the survey summarizes the limitations of existing Vid-LLMs and the directions for future research. For more information, we recommend readers visit the repository at //github.com/yunlong10/Awesome-LLMs-for-Video-Understanding.
Robotic collectives for military and disaster response applications require coalition formation algorithms to partition robots into appropriate task teams. Collectives' missions will often incorporate tasks that require multiple high-level robot behaviors or services, which coalition formation must accommodate. The highly dynamic and unstructured application domains also necessitate that coalition formation algorithms produce near optimal solutions (i.e., >95% utility) in near real-time (i.e., <5 minutes) with very large collectives (i.e., hundreds of robots). No previous coalition formation algorithm satisfies these requirements. An initial evaluation found that traditional auction-based algorithms' runtimes are too long, even though the centralized simulator incorporated ideal conditions unlikely to occur in real-world deployments (i.e., synchronization across robots and perfect, instantaneous communication). The hedonic game-based GRAPE algorithm can produce solutions in near real-time, but cannot be applied to multiple service collectives. This manuscript integrates GRAPE and a services model, producing GRAPE-S and Pair-GRAPE-S. These algorithms and two auction baselines were evaluated using a centralized simulator with up to 1000 robots, and via the largest distributed coalition formation simulated evaluation to date, with up to 500 robots. The evaluations demonstrate that auctions transfer poorly to distributed collectives, resulting in excessive runtimes and low utility solutions. GRAPE-S satisfies the target domains' coalition formation requirements, producing near optimal solutions in near real-time, and Pair-GRAPE-S more than satisfies the domain requirements, producing optimal solutions in near real-time. GRAPE-S and Pair-GRAPE-S are the first algorithms demonstrated to support near real-time coalition formation for very large, distributed collectives with multiple services.
In aerial combat, dogfighting poses intricate challenges that demand an understanding of both strategic maneuvers and the aerodynamics of agile fighter aircraft. In this paper, we introduce TempFuser, a novel long short-term temporal fusion transformer designed to learn tactical and agile flight maneuvers in aerial dogfights. Our approach employs two distinct LSTM-based input embeddings to encode long-term sparse and short-term dense state representations. By integrating these embeddings through a transformer encoder, our model captures the tactics and agility of fighter jets, enabling it to generate end-to-end flight commands that secure dominant positions and outmaneuver the opponent. After extensive training against various types of opponent aircraft in a high-fidelity flight simulator, our model successfully learns to perform complex fighter maneuvers, consistently outperforming several baseline models. Notably, our model exhibits human-like strategic maneuvers even when facing adversaries with superior specifications, all without relying on explicit prior knowledge. Moreover, it demonstrates robust pursuit performance in challenging supersonic and low-altitude environments. Demo videos are available at //sites.google.com/view/tempfuser.
Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.
Graph neural networks provide a powerful toolkit for embedding real-world graphs into low-dimensional spaces according to specific tasks. Up to now, there have been several surveys on this topic. However, they usually lay emphasis on different angles so that the readers can not see a panorama of the graph neural networks. This survey aims to overcome this limitation, and provide a comprehensive review on the graph neural networks. First of all, we provide a novel taxonomy for the graph neural networks, and then refer to up to 400 relevant literatures to show the panorama of the graph neural networks. All of them are classified into the corresponding categories. In order to drive the graph neural networks into a new stage, we summarize four future research directions so as to overcome the facing challenges. It is expected that more and more scholars can understand and exploit the graph neural networks, and use them in their research community.
Retrieving object instances among cluttered scenes efficiently requires compact yet comprehensive regional image representations. Intuitively, object semantics can help build the index that focuses on the most relevant regions. However, due to the lack of bounding-box datasets for objects of interest among retrieval benchmarks, most recent work on regional representations has focused on either uniform or class-agnostic region selection. In this paper, we first fill the void by providing a new dataset of landmark bounding boxes, based on the Google Landmarks dataset, that includes $94k$ images with manually curated boxes from $15k$ unique landmarks. Then, we demonstrate how a trained landmark detector, using our new dataset, can be leveraged to index image regions and improve retrieval accuracy while being much more efficient than existing regional methods. In addition, we further introduce a novel regional aggregated selective match kernel (R-ASMK) to effectively combine information from detected regions into an improved holistic image representation. R-ASMK boosts image retrieval accuracy substantially at no additional memory cost, while even outperforming systems that index image regions independently. Our complete image retrieval system improves upon the previous state-of-the-art by significant margins on the Revisited Oxford and Paris datasets. Code and data will be released.
We investigate the problem of automatically determining what type of shoe left an impression found at a crime scene. This recognition problem is made difficult by the variability in types of crime scene evidence (ranging from traces of dust or oil on hard surfaces to impressions made in soil) and the lack of comprehensive databases of shoe outsole tread patterns. We find that mid-level features extracted by pre-trained convolutional neural nets are surprisingly effective descriptors for this specialized domains. However, the choice of similarity measure for matching exemplars to a query image is essential to good performance. For matching multi-channel deep features, we propose the use of multi-channel normalized cross-correlation and analyze its effectiveness. Our proposed metric significantly improves performance in matching crime scene shoeprints to laboratory test impressions. We also show its effectiveness in other cross-domain image retrieval problems: matching facade images to segmentation labels and aerial photos to map images. Finally, we introduce a discriminatively trained variant and fine-tune our system through our proposed metric, obtaining state-of-the-art performance.
Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN/CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02% on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets.
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