As deep neural networks (DNNs) prove their importance and feasibility, more and more DNN-based apps, such as detection and classification of objects, have been developed and deployed on autonomous vehicles (AVs). To meet their growing expectations and requirements, AVs should "optimize" use of their limited onboard computing resources for multiple concurrent in-vehicle apps while satisfying their timing requirements (especially for safety). That is, real-time AV apps should share the limited on-board resources with other concurrent apps without missing their deadlines dictated by the frame rate of a camera that generates and provides input images to the apps. However, most, if not all, of existing DNN solutions focus on enhancing the concurrency of their specific hardware without dynamically optimizing/modifying the DNN apps' resource requirements, subject to the number of running apps, owing to their high computational cost. To mitigate this limitation, we propose DynaMIX (Dynamic MIXed-precision model construction), which optimizes the resource requirement of concurrent apps and aims to maximize execution accuracy. To realize a real-time resource optimization, we formulate an optimization problem using app performance profiles to consider both the accuracy and worst-case latency of each app. We also propose dynamic model reconfiguration by lazy loading only the selected layers at runtime to reduce the overhead of loading the entire model. DynaMIX is evaluated in terms of constraint satisfaction and inference accuracy for a multi-tasking system and compared against state-of-the-art solutions, demonstrating its effectiveness and feasibility under various environmental/operating conditions.
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The usage and impact of deep learning for cleaner production and sustainability purposes remain little explored. This work shows how deep learning can be harnessed to increase sustainability in production and product usage. Specifically, we utilize deep learning-based computer vision to determine the wear states of products. The resulting insights serve as a basis for novel product-service systems with improved integration and result orientation. Moreover, these insights are expected to facilitate product usage improvements and R&D innovations. We demonstrate our approach on two products: machining tools and rotating X-ray anodes. From a technical standpoint, we show that it is possible to recognize the wear state of these products using deep-learning-based computer vision. In particular, we detect wear through microscopic images of the two products. We utilize a U-Net for semantic segmentation to detect wear based on pixel granularity. The resulting mean dice coefficients of 0.631 and 0.603 demonstrate the feasibility of the proposed approach. Consequently, experts can now make better decisions, for example, to improve the machining process parameters. To assess the impact of the proposed approach on environmental sustainability, we perform life cycle assessments that show gains for both products. The results indicate that the emissions of CO2 equivalents are reduced by 12% for machining tools and by 44% for rotating anodes. This work can serve as a guideline and inspire researchers and practitioners to utilize computer vision in similar scenarios to develop sustainable smart product-service systems and enable cleaner production.
A common issue in graph learning under the semi-supervised setting is referred to as gradient scarcity. That is, learning graphs by minimizing a loss on a subset of nodes causes edges between unlabelled nodes that are far from labelled ones to receive zero gradients. The phenomenon was first described when optimizing the graph and the weights of a Graph Neural Network (GCN) with a joint optimization algorithm. In this work, we give a precise mathematical characterization of this phenomenon, and prove that it also emerges in bilevel optimization, where additional dependency exists between the parameters of the problem. While for GCNs gradient scarcity occurs due to their finite receptive field, we show that it also occurs with the Laplacian regularization model, in the sense that gradients amplitude decreases exponentially with distance to labelled nodes. To alleviate this issue, we study several solutions: we propose to resort to latent graph learning using a Graph-to-Graph model (G2G), graph regularization to impose a prior structure on the graph, or optimizing on a larger graph than the original one with a reduced diameter. Our experiments on synthetic and real datasets validate our analysis and prove the efficiency of the proposed solutions.
Generative AI has demonstrated impressive performance in various fields, among which speech synthesis is an interesting direction. With the diffusion model as the most popular generative model, numerous works have attempted two active tasks: text to speech and speech enhancement. This work conducts a survey on audio diffusion model, which is complementary to existing surveys that either lack the recent progress of diffusion-based speech synthesis or highlight an overall picture of applying diffusion model in multiple fields. Specifically, this work first briefly introduces the background of audio and diffusion model. As for the text-to-speech task, we divide the methods into three categories based on the stage where diffusion model is adopted: acoustic model, vocoder and end-to-end framework. Moreover, we categorize various speech enhancement tasks by either certain signals are removed or added into the input speech. Comparisons of experimental results and discussions are also covered in this survey.
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power, capabilities, resource sizes, energy consumption, and so forth, make scheduling and task allocation critical components. The basic idea of task allocation and scheduling is to optimize performance by minimizing completion time, energy consumption, delays between two consecutive tasks, along with others, and maximizing resource utilization, number of completed tasks in a given time interval, and suchlike. In the past, several works have addressed various aspects of task allocation and scheduling. In this paper, we provide a comprehensive overview of task allocation and scheduling strategies and related metrics suitable for robotic network cloud systems. We discuss the issues related to allocation and scheduling methods and the limitations that need to be overcome. The literature review is organized according to three different viewpoints: Architectures and Applications, Methods and Parameters. In addition, the limitations of each method are highlighted for future research.
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
In 1954, Alston S. Householder published Principles of Numerical Analysis, one of the first modern treatments on matrix decomposition that favored a (block) LU decomposition-the factorization of a matrix into the product of lower and upper triangular matrices. And now, matrix decomposition has become a core technology in machine learning, largely due to the development of the back propagation algorithm in fitting a neural network. The sole aim of this survey is to give a self-contained introduction to concepts and mathematical tools in numerical linear algebra and matrix analysis in order to seamlessly introduce matrix decomposition techniques and their applications in subsequent sections. However, we clearly realize our inability to cover all the useful and interesting results concerning matrix decomposition and given the paucity of scope to present this discussion, e.g., the separated analysis of the Euclidean space, Hermitian space, Hilbert space, and things in the complex domain. We refer the reader to literature in the field of linear algebra for a more detailed introduction to the related fields.
Deep learning have achieved promising results on a wide spectrum of AI applications. Larger datasets and models consistently yield better performance. However, we generally spend longer training time on more computation and communication. In this survey, we aim to provide a clear sketch about the optimizations for large-scale deep learning with regard to the model accuracy and model efficiency. We investigate algorithms that are most commonly used for optimizing, elaborate the debatable topic of generalization gap arises in large-batch training, and review the SOTA strategies in addressing the communication overhead and reducing the memory footprints.
This paper serves as a survey of recent advances in large margin training and its theoretical foundations, mostly for (nonlinear) deep neural networks (DNNs) that are probably the most prominent machine learning models for large-scale data in the community over the past decade. We generalize the formulation of classification margins from classical research to latest DNNs, summarize theoretical connections between the margin, network generalization, and robustness, and introduce recent efforts in enlarging the margins for DNNs comprehensively. Since the viewpoint of different methods is discrepant, we categorize them into groups for ease of comparison and discussion in the paper. Hopefully, our discussions and overview inspire new research work in the community that aim to improve the performance of DNNs, and we also point to directions where the large margin principle can be verified to provide theoretical evidence why certain regularizations for DNNs function well in practice. We managed to shorten the paper such that the crucial spirit of large margin learning and related methods are better emphasized.
Deep learning (DL) based semantic segmentation methods have been providing state-of-the-art performance in the last few years. More specifically, these techniques have been successfully applied to medical image classification, segmentation, and detection tasks. One deep learning technique, U-Net, has become one of the most popular for these applications. In this paper, we propose a Recurrent Convolutional Neural Network (RCNN) based on U-Net as well as a Recurrent Residual Convolutional Neural Network (RRCNN) based on U-Net models, which are named RU-Net and R2U-Net respectively. The proposed models utilize the power of U-Net, Residual Network, as well as RCNN. There are several advantages of these proposed architectures for segmentation tasks. First, a residual unit helps when training deep architecture. Second, feature accumulation with recurrent residual convolutional layers ensures better feature representation for segmentation tasks. Third, it allows us to design better U-Net architecture with same number of network parameters with better performance for medical image segmentation. The proposed models are tested on three benchmark datasets such as blood vessel segmentation in retina images, skin cancer segmentation, and lung lesion segmentation. The experimental results show superior performance on segmentation tasks compared to equivalent models including U-Net and residual U-Net (ResU-Net).
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