Speed up the inference of diffusion models via shortcut MCMC sampling

Diffusion probabilistic models have generated high quality image synthesis recently. However, one pain point is the notorious inference to gradually obtain clear images with thousands of steps, which is time consuming compared to other generative models. In this paper, we present a shortcut MCMC sampling algorithm, which balances training and inference, while keeping the generated data's quality. In particular, we add the global fidelity constraint with shortcut MCMC sampling to combat the local fitting from diffusion models. We do some initial experiments and show very promising results. Our implementation is available at https://github.com//vividitytech/diffusion-mcmc.git.

Unbiased Knowledge Distillation for Recommendation

As a promising solution for model compression, knowledge distillation (KD) has been applied in recommender systems (RS) to reduce inference latency. Traditional solutions first train a full teacher model from the training data, and then transfer its knowledge (\ie \textit{soft labels}) to supervise the learning of a compact student model. However, we find such a standard distillation paradigm would incur serious bias issue -- popular items are more heavily recommended after the distillation. This effect prevents the student model from making accurate and fair recommendations, decreasing the effectiveness of RS. In this work, we identify the origin of the bias in KD -- it roots in the biased soft labels from the teacher, and is further propagated and intensified during the distillation. To rectify this, we propose a new KD method with a stratified distillation strategy. It first partitions items into multiple groups according to their popularity, and then extracts the ranking knowledge within each group to supervise the learning of the student. Our method is simple and teacher-agnostic -- it works on distillation stage without affecting the training of the teacher model. We conduct extensive theoretical and empirical studies to validate the effectiveness of our proposal. We release our code at: https://github.com/chengang95/UnKD.

MSRL: Distributed Reinforcement Learning with Dataflow Fragments

Reinforcement learning~(RL) trains many agents, which is resource-intensive and must scale to large GPU clusters. Different RL training algorithms offer different opportunities for distributing and parallelising the computation. Yet, current distributed RL systems tie the definition of RL algorithms to their distributed execution: they hard-code particular distribution strategies and only accelerate specific parts of the computation (e.g. policy network updates) on GPU workers. Fundamentally, current systems lack abstractions that decouple RL algorithms from their execution. We describe MindSpore Reinforcement Learning (MSRL), a distributed RL training system that supports distribution policies that govern how RL training computation is parallelised and distributed on cluster resources, without requiring changes to the algorithm implementation. MSRL introduces the new abstraction of a fragmented dataflow graph, which maps Python functions from an RL algorithm's training loop to parallel computational fragments. Fragments are executed on different devices by translating them to low-level dataflow representations, e.g. computational graphs as supported by deep learning engines, CUDA implementations or multi-threaded CPU processes. We show that MSRL subsumes the distribution strategies of existing systems, while scaling RL training to 64 GPUs.

Hierarchical Training of Deep Ensemble Policies for Reinforcement Learning in Continuous Spaces

Many actor-critic deep reinforcement learning (DRL) algorithms have achieved cutting-edge performance in tackling various challenging reinforcement learning (RL) problems, including complex control tasks with high-dimensional continuous state and action spaces. Despite of widely reported success, existing DRL algorithms often suffer from the ineffective exploration issue, resulting in limited learning stability and performance. To address this limitation, several ensemble DRL algorithms have been proposed recently to boost exploration and stabilize the learning process. However, many existing ensemble algorithms are designed to train each base learner individually without controlling explicitly the collaboration among the trained base learners. In this paper, we propose a new technique to train an ensemble of base learners based on the multi-step integration methods. The new multi-step training technique enables us to develop a new hierarchical training algorithm for ensemble DRL that promotes inter-learner collaboration through explicit inter-learner parameter sharing. The design of our new algorithm is verified theoretically. The algorithm is also shown empirically to outperform several cutting-edge DRL algorithms on multiple benchmark RL problems.

SoLar: Sinkhorn Label Refinery for Imbalanced Partial-Label Learning

Partial-label learning (PLL) is a peculiar weakly-supervised learning task where the training samples are generally associated with a set of candidate labels instead of single ground truth. While a variety of label disambiguation methods have been proposed in this domain, they normally assume a class-balanced scenario that may not hold in many real-world applications. Empirically, we observe degenerated performance of the prior methods when facing the combinatorial challenge from the long-tailed distribution and partial-labeling. In this work, we first identify the major reasons that the prior work failed. We subsequently propose SoLar, a novel Optimal Transport-based framework that allows to refine the disambiguated labels towards matching the marginal class prior distribution. SoLar additionally incorporates a new and systematic mechanism for estimating the long-tailed class prior distribution under the PLL setup. Through extensive experiments, SoLar exhibits substantially superior results on standardized benchmarks compared to the previous state-of-the-art PLL methods. Code and data are available at: https://github.com/hbzju/SoLar .

Accurate and Real-time Pseudo Lidar Detection: Is Stereo Neural Network Really Necessary?

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of Pseudo-Lidar by taking the advantage of complex and time-consuming neural networks. Seldom explore the profound characteristics of Pseudo-Lidar representation to obtain the promoting opportunities. In this paper, we dive deep into the pseudo Lidar representation and argue that the performance of 3D object detection is not fully dependent on the high precision stereo depth estimation. We demonstrate that even for the unreliable depth estimation, with proper data processing and refining, it can achieve comparable 3D object detection accuracy. With this finding, we further show the possibility that utilizing fast but inaccurate stereo matching algorithms in the Pseudo-Lidar system to achieve low latency responsiveness. In the experiments, we develop a system with a less powerful stereo matching predictor and adopt the proposed refinement schemes to improve the accuracy. The evaluation on the KITTI benchmark shows that the presented system achieves competitive accuracy to the state-of-the-art approaches with only 23 ms computing, showing it is a suitable candidate for deploying to real car-hold applications.

Sense The Physical, Walkthrough The Virtual, Manage The Metaverse: A Data-centric Perspective

In the Metaverse, the physical space and the virtual space co-exist, and interact simultaneously. While the physical space is virtually enhanced with information, the virtual space is continuously refreshed with real-time, real-world information. To allow users to process and manipulate information seamlessly between the real and digital spaces, novel technologies must be developed. These include smart interfaces, new augmented realities, efficient storage and data management and dissemination techniques. In this paper, we first discuss some promising co-space applications. These applications offer experiences and opportunities that neither of the spaces can realize on its own. We then argue that the database community has much to offer to this field. Finally, we present several challenges that we, as a community, can contribute towards managing the Metaverse.

Interpretable Fault Diagnosis of Rolling Element Bearings with Temporal Logic Neural Network

Machine learning-based methods have achieved successful applications in machinery fault diagnosis. However, the main limitation that exists for these methods is that they operate as a black box and are generally not interpretable. This paper proposes a novel neural network structure, called temporal logic neural network (TLNN), in which the neurons of the network are logic propositions. More importantly, the network can be described and interpreted as a weighted signal temporal logic. TLNN not only keeps the nice properties of traditional neuron networks but also provides a formal interpretation of itself with formal language. Experiments with real datasets show the proposed neural network can obtain highly accurate fault diagnosis results with good computation efficiency. Additionally, the embedded formal language of the neuron network can provide explanations about the decision process, thus achieve interpretable fault diagnosis.

Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment

This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the gaussian mixture model (GMM) and transmitted in the swarm. Resampling from the received GMM contributes to a global map, which is used as the foundation for consensus. Second, to improve flight safety, an active sensing system is designed to plan the observation angle of each UAV considering the unknown field, overlap of the field of view (FOV), velocity direction and smoothness of yaw rotation, and this planning problem is solved by the distributed particle swarm optimization (DPSO) algorithm. Last, for the formation motion planning, to ensure obstacle avoidance, the formation structure is allowed for affine transformation and is treated as the soft constraint on the control points of the B-spline. Besides, the STGO is introduced to avoid local minima. The combination of GMM communication and STGO guarantees a safe and strict consensus between UAVs. Tests on different formations in the simulation show that our algorithm can contribute to a strict consensus and has a success rate of at least 80% for obstacle avoidance in a dense environment. Besides, the active sensing system can increase the success rate of obstacle avoidance from 50% to 100% in some scenarios.

Continuous Occupancy Mapping in Dynamic Environments Using Particles

Dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Among these maps, the particle-based map offers a solid theoretical basis and the ability to model complex-shaped obstacles. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem, namely: large grid size is unfavorable for path planning while small grid size lowers efficiency and causes gaps and inconsistencies. To tackle this problem, this paper generalizes the particle-based map into continuous space and builds an efficient 3D local map. A dual-structure subspace division paradigm, composed of a voxel subspace division and a novel pyramid-like subspace division, is proposed to propagate particles and update the map efficiently with the consideration of occlusions. The occupancy status of an arbitrary point can then be estimated with the cardinality expectation. To reduce the noise in modeling static and dynamic obstacles simultaneously, an initial velocity estimation approach and a mixture model are utilized. Experimental results show that our map can effectively and efficiently model both dynamic obstacles and static obstacles. Compared to the state-of-the-art grid-form particle-based map, our map enables continuous occupancy estimation and substantially improves the performance in different resolutions. We also deployed the map on a quadrotor to demonstrate the bright prospect of using this map in obstacle avoidance tasks of small-scale robotics systems.