Research on an Autonomous UAV Search and Rescue System Based on the Improved

The demand is to solve the issue of UAV (unmanned aerial vehicle) operating autonomously and implementing practical functions such as search and rescue in complex unknown environments. This paper proposes an autonomous search and rescue UAV system based on an EGO-Planner algorithm, which is improved by innovative UAV body application and takes the methods of inverse motor backstepping to enhance the overall flight efficiency of the UAV and miniaturization of the whole machine. At the same time, the system introduced the EGO-Planner planning tool, which is optimized by a bidirectional A* algorithm along with an object detection algorithm. It solves the issue of intelligent obstacle avoidance and search and rescue. Through the simulation and field verification work, and compared with traditional algorithms, this method shows more efficiency and reliability in the task. In addition, due to the existing algorithm's improved robustness, this application shows good prospection.

Soft Masked Transformer for Point Cloud Processing with Skip Attention-Based Upsampling

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that integrating task-level information into the encoding stage significantly enhances performance. To that end, we propose SMTransformer which incorporates task-level information into a vector-based transformer by utilizing a soft mask generated from task-level queries and keys to learn the attention weights. Additionally, to facilitate effective communication between features from the encoding and decoding layers in high-level tasks such as segmentation, we introduce a skip-attention-based up-sampling block. This block dynamically fuses features from various resolution points across the encoding and decoding layers. To mitigate the increase in network parameters and training time resulting from the complexity of the aforementioned blocks, we propose a novel shared position encoding strategy. This strategy allows various transformer blocks to share the same position information over the same resolution points, thereby reducing network parameters and training time without compromising accuracy.Experimental comparisons with existing methods on multiple datasets demonstrate the efficacy of SMTransformer and skip-attention-based up-sampling for point cloud processing tasks, including semantic segmentation and classification. In particular, we achieve state-of-the-art semantic segmentation results of 73.4% mIoU on S3DIS Area 5 and 62.4% mIoU on SWAN dataset

Sentence Bag Graph Formulation for Biomedical Distant Supervision Relation Extraction

We introduce a novel graph-based framework for alleviating key challenges in distantly-supervised relation extraction and demonstrate its effectiveness in the challenging and important domain of biomedical data. Specifically, we propose a graph view of sentence bags referring to an entity pair, which enables message-passing based aggregation of information related to the entity pair over the sentence bag. The proposed framework alleviates the common problem of noisy labeling in distantly supervised relation extraction and also effectively incorporates inter-dependencies between sentences within a bag. Extensive experiments on two large-scale biomedical relation datasets and the widely utilized NYT dataset demonstrate that our proposed framework significantly outperforms the state-of-the-art methods for biomedical distant supervision relation extraction while also providing excellent performance for relation extraction in the general text mining domain.

Full Point Encoding for Local Feature Aggregation in 3D Point Clouds

Point cloud processing methods exploit local point features and global context through aggregation which does not explicity model the internal correlations between local and global features. To address this problem, we propose full point encoding which is applicable to convolution and transformer architectures. Specifically, we propose Full Point Convolution (FPConv) and Full Point Transformer (FPTransformer) architectures. The key idea is to adaptively learn the weights from local and global geometric connections, where the connections are established through local and global correlation functions respectively. FPConv and FPTransformer simultaneously model the local and global geometric relationships as well as their internal correlations, demonstrating strong generalization ability and high performance. FPConv is incorporated in classical hierarchical network architectures to achieve local and global shape-aware learning. In FPTransformer, we introduce full point position encoding in self-attention, that hierarchically encodes each point position in the global and local receptive field. We also propose a shape aware downsampling block which takes into account the local shape and the global context. Experimental comparison to existing methods on benchmark datasets show the efficacy of FPConv and FPTransformer for semantic segmentation, object detection, classification, and normal estimation tasks. In particular, we achieve state-of-the-art semantic segmentation results of 76% mIoU on S3DIS 6-fold and 72.2% on S3DIS Area5.

Enhanced Decentralized Federated Learning based on Consensus in Connected Vehicles

Advanced researches on connected vehicles have recently targeted to the integration of vehicle-to-everything (V2X) networks with Machine Learning (ML) tools and distributed decision making. Federated learning (FL) is emerging as a new paradigm to train machine learning (ML) models in distributed systems, including vehicles in V2X networks. Rather than sharing and uploading the training data to the server, the updating of model parameters (e.g., neural networks' weights and biases) is applied by large populations of interconnected vehicles, acting as local learners. Despite these benefits, the limitation of existing approaches is the centralized optimization which relies on a server for aggregation and fusion of local parameters, leading to the drawback of a single point of failure and scaling issues for increasing V2X network size. Meanwhile, in intelligent transport scenarios, data collected from onboard sensors are redundant, which degrades the performance of aggregation. To tackle these problems, we explore a novel idea of decentralized data processing and introduce a federated learning framework for in-network vehicles, C-DFL(Consensus based Decentralized Federated Learning), to tackle federated learning on connected vehicles and improve learning quality. Extensive simulations have been implemented to evaluate the performance of C-DFL, that demonstrates C-DFL outperforms the performance of conventional methods in all cases.

A Discrete-event-based Simulator for Deep Learning at Edge

Novel smart environments, such as smart home, smart city, and intelligent transportation, are driving increasing interest in deploying deep neural networks (DNN) at edge devices. Unfortunately, deploying DNN on resource-constrained edge devices poses a huge challenge. If a simulator can interact with deep learning frameworks, it can facilitate researches on deep learning at edge. The existing simulation frameworks, such as Matlab, NS-3, etc., haven't been extended to support simulations of edge learning. To support large-scale training simulations on edge nodes, we propose a discrete-event-based edge learning simulator. It includes a deep learning module and a network simulation module. Specifically, it enable simulations as an environment for deep learning. Our framework is generic and can be used in various deep learning problems before the deep learning model is deployed. In this paper, we give the design and implementation details of the discrete-event-based learning simulator and present an illustrative use case of the proposed simulator.

Distantly-Supervised Long-Tailed Relation Extraction Using Constraint Graphs

Label noise and long-tailed distributions are two major challenges in distantly supervised relation extraction. Recent studies have shown great progress on denoising, but pay little attention to the problem of long-tailed relations. In this paper, we introduce constraint graphs to model the dependencies between relation labels. On top of that, we further propose a novel constraint graph-based relation extraction framework(CGRE) to handle the two challenges simultaneously. CGRE employs graph convolution networks (GCNs) to propagate information from data-rich relation nodes to data-poor relation nodes, and thus boosts the representation learning of long-tailed relations. To further improve the noise immunity, a constraint-aware attention module is designed in CGRE to integrate the constraint information. Experimental results on a widely-used benchmark dataset indicate that our approach achieves significant improvements over the previous methods for both denoising and long-tailed relation extraction.

Deep Learning based 3D Segmentation: A Survey

3D object segmentation is a fundamental and challenging problem in computer vision with applications in autonomous driving, robotics, augmented reality and medical image analysis. It has received significant attention from the computer vision, graphics and machine learning communities. Traditionally, 3D segmentation was performed with hand-crafted features and engineered methods which failed to achieve acceptable accuracy and could not generalize to large-scale data. Driven by their great success in 2D computer vision, deep learning techniques have recently become the tool of choice for 3D segmentation tasks as well. This has led to an influx of a large number of methods in the literature that have been evaluated on different benchmark datasets. This paper provides a comprehensive survey of recent progress in deep learning based 3D segmentation covering over 150 papers. It summarizes the most commonly used pipelines, discusses their highlights and shortcomings, and analyzes the competitive results of these segmentation methods. Based on the analysis, it also provides promising research directions for the future.

Differentially Private Synthetic Data: Applied Evaluations and Enhancements

Machine learning practitioners frequently seek to leverage the most informative available data, without violating the data owner's privacy, when building predictive models. Differentially private data synthesis protects personal details from exposure, and allows for the training of differentially private machine learning models on privately generated datasets. But how can we effectively assess the efficacy of differentially private synthetic data? In this paper, we survey four differentially private generative adversarial networks for data synthesis. We evaluate each of them at scale on five standard tabular datasets, and in two applied industry scenarios. We benchmark with novel metrics from recent literature and other standard machine learning tools. Our results suggest some synthesizers are more applicable for different privacy budgets, and we further demonstrate complicating domain-based tradeoffs in selecting an approach. We offer experimental learning on applied machine learning scenarios with private internal data to researchers and practioners alike. In addition, we propose QUAIL, an ensemble-based modeling approach to generating synthetic data. We examine QUAIL's tradeoffs, and note circumstances in which it outperforms baseline differentially private supervised learning models under the same budget constraint.

The Deep Learning Compiler: A Comprehensive Survey

The difficulty of deploying various deep learning (DL) models on diverse DL hardware has boosted the research and development of DL compilers in the community. Several DL compilers have been proposed from both industry and academia such as Tensorflow XLA and TVM. Similarly, the DL compilers take the DL models described in different DL frameworks as input, and then generate optimized codes for diverse DL hardware as output. However, none of the existing survey has analyzed the unique design of the DL compilers comprehensively. In this paper, we perform a comprehensive survey of existing DL compilers by dissecting the commonly adopted design in details, with emphasis on the DL oriented multi-level IRs, and frontend/backend optimizations. Specifically, we provide a comprehensive comparison among existing DL compilers from various aspects. In addition, we present detailed analysis of the multi-level IR design and compiler optimization techniques. Finally, several insights are highlighted as the potential research directions of DL compiler. This is the first survey paper focusing on the unique design of DL compiler, which we hope can pave the road for future research towards the DL compiler.