Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases

We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense color mapping, and robust localization in diverse environments. We tightly integrate RGB-D images, inertial measurements, wheel odometer and GNSS signals within a factor graph to achieve accurate and reliable localization both indoors and outdoors. To ensure successful initialization, we propose an efficient strategy that comprises three different methods: stationary, visual, and dynamic, tailored to handle diverse cases. Furthermore, we develop mechanisms to detect sensor anomalies and degradation, handling them adeptly to maintain system accuracy. Our experimental results on both public and self-collected datasets demonstrate that Ground-Fusion outperforms existing low-cost SLAM systems in corner cases. We release the code and datasets at https://github.com/SJTU-ViSYS/Ground-Fusion.

Multi-modal Stance Detection: New Datasets and Model

Stance detection is a challenging task that aims to identify public opinion from social media platforms with respect to specific targets. Previous work on stance detection largely focused on pure texts. In this paper, we study multi-modal stance detection for tweets consisting of texts and images, which are prevalent in today's fast-growing social media platforms where people often post multi-modal messages. To this end, we create five new multi-modal stance detection datasets of different domains based on Twitter, in which each example consists of a text and an image. In addition, we propose a simple yet effective Targeted Multi-modal Prompt Tuning framework (TMPT), where target information is leveraged to learn multi-modal stance features from textual and visual modalities. Experimental results on our three benchmark datasets show that the proposed TMPT achieves state-of-the-art performance in multi-modal stance detection.

Mitigating Biases of Large Language Models in Stance Detection with Calibration

Large language models (LLMs) have achieved remarkable progress in many natural language processing tasks. However, our experiment reveals that, in stance detection tasks, LLMs may generate biased stances due to spurious sentiment-stance correlation and preference towards certain individuals and topics, thus harming their performance. Therefore, in this paper, we propose to Mitigate Biases of LLMs in stance detection with Calibration (MB-Cal). In which, a novel gated calibration network is devised to mitigate the biases on the stance reasoning results from LLMs. Further, to make the calibration more accurate and generalizable, we construct counterfactual augmented data to rectify stance biases. Experimental results on in-target and zero-shot stance detection tasks show that the proposed MB-Cal can effectively mitigate biases of LLMs, achieving state-of-the-art results.

Block-Level MU-MISO Interference Exploitation Precoding: Optimal Structure and Explicit Duality

This paper investigates block-level interference exploitation (IE) precoding for multi-user multiple-input single-output (MU-MISO) downlink systems. To overcome the need for symbol-level IE precoding to frequently update the precoding matrix, we propose to jointly optimize all the precoders or transmit signals within a transmission block. The resultant precoders only need to be updated once per block, and while not necessarily constant over all the symbol slots, we refer to the technique as block-level slot-variant IE precoding. Through a careful examination of the optimal structure and the explicit duality inherent in block-level power minimization (PM) and signal-to-interference-plus-noise ratio (SINR) balancing (SB) problems, we discover that the joint optimization can be decomposed into subproblems with smaller variable sizes. As a step further, we propose block-level slot-invariant IE precoding by adding a structural constraint on the slot-variant IE precoding to maintain a constant precoder throughout the block. A novel linear precoder for IE is further presented, and we prove that the proposed slot-variant and slot-invariant IE precoding share an identical solution when the number of symbol slots does not exceed the number of users. Numerical simulations demonstrate that the proposed precoders achieve a significant complexity reduction compared against benchmark schemes, without sacrificing performance.

Time-Transformer: Integrating Local and Global Features for Better Time Series Generation

Generating time series data is a promising approach to address data deficiency problems. However, it is also challenging due to the complex temporal properties of time series data, including local correlations as well as global dependencies. Most existing generative models have failed to effectively learn both the local and global properties of time series data. To address this open problem, we propose a novel time series generative model named 'Time-Transformer AAE', which consists of an adversarial autoencoder (AAE) and a newly designed architecture named 'Time-Transformer' within the decoder. The Time-Transformer first simultaneously learns local and global features in a layer-wise parallel design, combining the abilities of Temporal Convolutional Networks and Transformer in extracting local features and global dependencies respectively. Second, a bidirectional cross attention is proposed to provide complementary guidance across the two branches and achieve proper fusion between local and global features. Experimental results demonstrate that our model can outperform existing state-of-the-art models in 5 out of 6 datasets, specifically on those with data containing both global and local properties. Furthermore, we highlight our model's advantage on handling this kind of data via an artificial dataset. Finally, we show our model's ability to address a real-world problem: data augmentation to support learning with small datasets and imbalanced datasets.

Evaluating Emerging AI/ML Accelerators: IPU, RDU, and NVIDIA/AMD GPUs

The relentless advancement of artificial intelligence (AI) and machine learning (ML) applications necessitates the development of specialized hardware accelerators capable of handling the increasing complexity and computational demands. Traditional computing architectures, based on the von Neumann model, are being outstripped by the requirements of contemporary AI/ML algorithms, leading to a surge in the creation of accelerators like the Graphcore Intelligence Processing Unit (IPU), Sambanova Reconfigurable Dataflow Unit (RDU), and enhanced GPU platforms. These hardware accelerators are characterized by their innovative data-flow architectures and other design optimizations that promise to deliver superior performance and energy efficiency for AI/ML tasks. This research provides a preliminary evaluation and comparison of these commercial AI/ML accelerators, delving into their hardware and software design features to discern their strengths and unique capabilities. By conducting a series of benchmark evaluations on common DNN operators and other AI/ML workloads, we aim to illuminate the advantages of data-flow architectures over conventional processor designs and offer insights into the performance trade-offs of each platform. The findings from our study will serve as a valuable reference for the design and performance expectations of research prototypes, thereby facilitating the development of next-generation hardware accelerators tailored for the ever-evolving landscape of AI/ML applications. Through this analysis, we aspire to contribute to the broader understanding of current accelerator technologies and to provide guidance for future innovations in the field.

Research Team Identification Based on Representation Learning of Academic Heterogeneous Information Network

Academic networks in the real world can usually be described by heterogeneous information networks composed of multi-type nodes and relationships. Some existing research on representation learning for homogeneous information networks lacks the ability to explore heterogeneous information networks in heterogeneous information networks. It cannot be applied to heterogeneous information networks. Aiming at the practical needs of effectively identifying and discovering scientific research teams from the academic heterogeneous information network composed of massive and complex scientific and technological big data, this paper proposes a scientific research team identification method based on representation learning of academic heterogeneous information networks. The attention mechanism at node level and meta-path level learns low-dimensional, dense and real-valued vector representations on the basis of retaining the rich topological information of nodes in the network and the semantic information based on meta-paths, and realizes effective identification and discovery of scientific research teams and important team members in academic heterogeneous information networks based on maximizing node influence. Experimental results show that our proposed method outperforms the comparative methods.

Federated Topic Model and Model Pruning Based on Variational Autoencoder

Topic modeling has emerged as a valuable tool for discovering patterns and topics within large collections of documents. However, when cross-analysis involves multiple parties, data privacy becomes a critical concern. Federated topic modeling has been developed to address this issue, allowing multiple parties to jointly train models while protecting pri-vacy. However, there are communication and performance challenges in the federated sce-nario. In order to solve the above problems, this paper proposes a method to establish a federated topic model while ensuring the privacy of each node, and use neural network model pruning to accelerate the model, where the client periodically sends the model neu-ron cumulative gradients and model weights to the server, and the server prunes the model. To address different requirements, two different methods are proposed to determine the model pruning rate. The first method involves slow pruning throughout the entire model training process, which has limited acceleration effect on the model training process, but can ensure that the pruned model achieves higher accuracy. This can significantly reduce the model inference time during the inference process. The second strategy is to quickly reach the target pruning rate in the early stage of model training in order to accelerate the model training speed, and then continue to train the model with a smaller model size after reaching the target pruning rate. This approach may lose more useful information but can complete the model training faster. Experimental results show that the federated topic model pruning based on the variational autoencoder proposed in this paper can greatly accelerate the model training speed while ensuring the model's performance.

Adversarial Examples Are Not Real Features

The existence of adversarial examples has been a mystery for years and attracted much interest. A well-known theory by \citet{ilyas2019adversarial} explains adversarial vulnerability from a data perspective by showing that one can extract non-robust features from adversarial examples and these features alone are useful for classification. However, the explanation remains quite counter-intuitive since non-robust features are mostly noise features to humans. In this paper, we re-examine the theory from a larger context by incorporating multiple learning paradigms. Notably, we find that contrary to their good usefulness under supervised learning, non-robust features attain poor usefulness when transferred to other self-supervised learning paradigms, such as contrastive learning, masked image modeling, and diffusion models. It reveals that non-robust features are not really as useful as robust or natural features that enjoy good transferability between these paradigms. Meanwhile, for robustness, we also show that naturally trained encoders from robust features are largely non-robust under AutoAttack. Our cross-paradigm examination suggests that the non-robust features are not really useful but more like paradigm-wise shortcuts, and robust features alone might be insufficient to attain reliable model robustness. Code is available at \url{https://github.com/PKU-ML/AdvNotRealFeatures}.

SiDA: Sparsity-Inspired Data-Aware Serving for Efficient and Scalable Large Mixture-of-Experts Models

Mixture-of-Experts (MoE) has emerged as a favorable architecture in the era of large models due to its inherent advantage, i.e., enlarging model capacity without incurring notable computational overhead. Yet, the realization of such benefits often results in ineffective GPU memory utilization, as large portions of the model parameters remain dormant during inference. Moreover, the memory demands of large models consistently outpace the memory capacity of contemporary GPUs. Addressing this, we introduce SiDA (Sparsity-inspired Data-Aware), an efficient inference approach tailored for large MoE models. SiDA judiciously exploits both the system's main memory, which is now abundant and readily scalable, and GPU memory by capitalizing on the inherent sparsity on expert activation in MoE models. By adopting a data-aware perspective, SiDA achieves enhanced model efficiency with a neglectable performance drop. Specifically, SiDA attains a remarkable speedup in MoE inference with up to 3.93X throughput increasing, up to 75% latency reduction, and up to 80% GPU memory saving with down to 1% performance drop. This work paves the way for scalable and efficient deployment of large MoE models, even in memory-constrained systems.