Imagine, Initialize, and Explore: An Effective Exploration Method in Multi-Agent Reinforcement Learning

Effective exploration is crucial to discovering optimal strategies for multi-agent reinforcement learning (MARL) in complex coordination tasks. Existing methods mainly utilize intrinsic rewards to enable committed exploration or use role-based learning for decomposing joint action spaces instead of directly conducting a collective search in the entire action-observation space. However, they often face challenges obtaining specific joint action sequences to reach successful states in long-horizon tasks. To address this limitation, we propose Imagine, Initialize, and Explore (IIE), a novel method that offers a promising solution for efficient multi-agent exploration in complex scenarios. IIE employs a transformer model to imagine how the agents reach a critical state that can influence each other's transition functions. Then, we initialize the environment at this state using a simulator before the exploration phase. We formulate the imagination as a sequence modeling problem, where the states, observations, prompts, actions, and rewards are predicted autoregressively. The prompt consists of timestep-to-go, return-to-go, influence value, and one-shot demonstration, specifying the desired state and trajectory as well as guiding the action generation. By initializing agents at the critical states, IIE significantly increases the likelihood of discovering potentially important under-explored regions. Despite its simplicity, empirical results demonstrate that our method outperforms multi-agent exploration baselines on the StarCraft Multi-Agent Challenge (SMAC) and SMACv2 environments. Particularly, IIE shows improved performance in the sparse-reward SMAC tasks and produces more effective curricula over the initialized states than other generative methods, such as CVAE-GAN and diffusion models.

MGARD: A multigrid framework for high-performance, error-controlled data compression and refactoring

We describe MGARD, a software providing MultiGrid Adaptive Reduction for floating-point scientific data on structured and unstructured grids. With exceptional data compression capability and precise error control, MGARD addresses a wide range of requirements, including storage reduction, high-performance I/O, and in-situ data analysis. It features a unified application programming interface (API) that seamlessly operates across diverse computing architectures. MGARD has been optimized with highly-tuned GPU kernels and efficient memory and device management mechanisms, ensuring scalable and rapid operations.

Spatiotemporally adaptive compression for scientific dataset with feature preservation -- a case study on simulation data with extreme climate events analysis

Scientific discoveries are increasingly constrained by limited storage space and I/O capacities. For time-series simulations and experiments, their data often need to be decimated over timesteps to accommodate storage and I/O limitations. In this paper, we propose a technique that addresses storage costs while improving post-analysis accuracy through spatiotemporal adaptive, error-controlled lossy compression. We investigate the trade-off between data precision and temporal output rates, revealing that reducing data precision and increasing timestep frequency lead to more accurate analysis outcomes. Additionally, we integrate spatiotemporal feature detection with data compression and demonstrate that performing adaptive error-bounded compression in higher dimensional space enables greater compression ratios, leveraging the error propagation theory of a transformation-based compressor. To evaluate our approach, we conduct experiments using the well-known E3SM climate simulation code and apply our method to compress variables used for cyclone tracking. Our results show a significant reduction in storage size while enhancing the quality of cyclone tracking analysis, both quantitatively and qualitatively, in comparison to the prevalent timestep decimation approach. Compared to three state-of-the-art lossy compressors lacking feature preservation capabilities, our adaptive compression framework improves perfectly matched cases in TC tracking by 26.4-51.3% at medium compression ratios and by 77.3-571.1% at large compression ratios, with a merely 5-11% computational overhead.

High-performance Data Management for Whole Slide Image Analysis in Digital Pathology

When dealing with giga-pixel digital pathology in whole-slide imaging, a notable proportion of data records holds relevance during each analysis operation. For instance, when deploying an image analysis algorithm on whole-slide images (WSI), the computational bottleneck often lies in the input-output (I/O) system. This is particularly notable as patch-level processing introduces a considerable I/O load onto the computer system. However, this data management process could be further paralleled, given the typical independence of patch-level image processes across different patches. This paper details our endeavors in tackling this data access challenge by implementing the Adaptable IO System version 2 (ADIOS2). Our focus has been constructing and releasing a digital pathology-centric pipeline using ADIOS2, which facilitates streamlined data management across WSIs. Additionally, we've developed strategies aimed at curtailing data retrieval times. The performance evaluation encompasses two key scenarios: (1) a pure CPU-based image analysis scenario ("CPU scenario"), and (2) a GPU-based deep learning framework scenario ("GPU scenario"). Our findings reveal noteworthy outcomes. Under the CPU scenario, ADIOS2 showcases an impressive two-fold speed-up compared to the brute-force approach. In the GPU scenario, its performance stands on par with the cutting-edge GPU I/O acceleration framework, NVIDIA Magnum IO GPU Direct Storage (GDS). From what we know, this appears to be among the initial instances, if any, of utilizing ADIOS2 within the field of digital pathology. The source code has been made publicly available at https://github.com/hrlblab/adios.

An Accelerated Pipeline for Multi-label Renal Pathology Image Segmentation at the Whole Slide Image Level

Deep-learning techniques have been used widely to alleviate the labour-intensive and time-consuming manual annotation required for pixel-level tissue characterization. Our previous study introduced an efficient single dynamic network - Omni-Seg - that achieved multi-class multi-scale pathological segmentation with less computational complexity. However, the patch-wise segmentation paradigm still applies to Omni-Seg, and the pipeline is time-consuming when providing segmentation for Whole Slide Images (WSIs). In this paper, we propose an enhanced version of the Omni-Seg pipeline in order to reduce the repetitive computing processes and utilize a GPU to accelerate the model's prediction for both better model performance and faster speed. Our proposed method's innovative contribution is two-fold: (1) a Docker is released for an end-to-end slide-wise multi-tissue segmentation for WSIs; and (2) the pipeline is deployed on a GPU to accelerate the prediction, achieving better segmentation quality in less time. The proposed accelerated implementation reduced the average processing time (at the testing stage) on a standard needle biopsy WSI from 2.3 hours to 22 minutes, using 35 WSIs from the Kidney Tissue Atlas (KPMP) Datasets. The source code and the Docker have been made publicly available at https://github.com/ddrrnn123/Omni-Seg.

MMRDN: Consistent Representation for Multi-View Manipulation Relationship Detection in Object-Stacked Scenes

Manipulation relationship detection (MRD) aims to guide the robot to grasp objects in the right order, which is important to ensure the safety and reliability of grasping in object stacked scenes. Previous works infer manipulation relationship by deep neural network trained with data collected from a predefined view, which has limitation in visual dislocation in unstructured environments. Multi-view data provide more comprehensive information in space, while a challenge of multi-view MRD is domain shift. In this paper, we propose a novel multi-view fusion framework, namely multi-view MRD network (MMRDN), which is trained by 2D and 3D multi-view data. We project the 2D data from different views into a common hidden space and fit the embeddings with a set of Von-Mises-Fisher distributions to learn the consistent representations. Besides, taking advantage of position information within the 3D data, we select a set of $K$ Maximum Vertical Neighbors (KMVN) points from the point cloud of each object pair, which encodes the relative position of these two objects. Finally, the features of multi-view 2D and 3D data are concatenated to predict the pairwise relationship of objects. Experimental results on the challenging REGRAD dataset show that MMRDN outperforms the state-of-the-art methods in multi-view MRD tasks. The results also demonstrate that our model trained by synthetic data is capable to transfer to real-world scenarios.

Greedy based Value Representation for Optimal Coordination in Multi-agent Reinforcement Learning

Due to the representation limitation of the joint Q value function, multi-agent reinforcement learning methods with linear value decomposition (LVD) or monotonic value decomposition (MVD) suffer from relative overgeneralization. As a result, they can not ensure optimal consistency (i.e., the correspondence between individual greedy actions and the maximal true Q value). In this paper, we derive the expression of the joint Q value function of LVD and MVD. According to the expression, we draw a transition diagram, where each self-transition node (STN) is a possible convergence. To ensure optimal consistency, the optimal node is required to be the unique STN. Therefore, we propose the greedy-based value representation (GVR), which turns the optimal node into an STN via inferior target shaping and further eliminates the non-optimal STNs via superior experience replay. In addition, GVR achieves an adaptive trade-off between optimality and stability. Our method outperforms state-of-the-art baselines in experiments on various benchmarks. Theoretical proofs and empirical results on matrix games demonstrate that GVR ensures optimal consistency under sufficient exploration.

Multi-agent Policy Optimization with Approximatively Synchronous Advantage Estimation

Cooperative multi-agent tasks require agents to deduce their own contributions with shared global rewards, known as the challenge of credit assignment. General methods for policy based multi-agent reinforcement learning to solve the challenge introduce differentiate value functions or advantage functions for individual agents. In multi-agent system, polices of different agents need to be evaluated jointly. In order to update polices synchronously, such value functions or advantage functions also need synchronous evaluation. However, in current methods, value functions or advantage functions use counter-factual joint actions which are evaluated asynchronously, thus suffer from natural estimation bias. In this work, we propose the approximatively synchronous advantage estimation. We first derive the marginal advantage function, an expansion from single-agent advantage function to multi-agent system. Further more, we introduce a policy approximation for synchronous advantage estimation, and break down the multi-agent policy optimization problem into multiple sub-problems of single-agent policy optimization. Our method is compared with baseline algorithms on StarCraft multi-agent challenges, and shows the best performance on most of the tasks.

FTRANS: Energy-Efficient Acceleration of Transformers using FPGA

In natural language processing (NLP), the "Transformer" architecture was proposed as the first transduction model replying entirely on self-attention mechanisms without using sequence-aligned recurrent neural networks (RNNs) or convolution, and it achieved significant improvements for sequence to sequence tasks. The introduced intensive computation and storage of these pre-trained language representations has impeded their popularity into computation and memory-constrained devices. The field-programmable gate array (FPGA) is widely used to accelerate deep learning algorithms for its high parallelism and low latency. However, the trained models are still too large to accommodate to an FPGA fabric. In this paper, we propose an efficient acceleration framework, Ftrans, for transformer-based large scale language representations. Our framework includes enhanced block-circulant matrix (BCM)-based weight representation to enable model compression on large-scale language representations at the algorithm level with few accuracy degradation, and an acceleration design at the architecture level. Experimental results show that our proposed framework significantly reduces the model size of NLP models by up to 16 times. Our FPGA design achieves 27.07x and 81x improvement in performance and energy efficiency compared to CPU, and up to 8.80x improvement in energy efficiency compared to GPU.

A Multi-task Convolutional Neural Network for Autonomous Robotic Grasping in Object Stacking Scenes

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous robots: (1)it is a comprehensive task to know what and how to grasp; (2)it is hard to deal with the situations in which the target is hidden or covered by other objects. In this paper, we propose a multi-task convolutional neural network for autonomous robotic grasping, which can help the robot find the target, make the plan for grasping and finally grasp the target step by step in object stacking scenes. We integrate vision-based robotic grasping detection and visual manipulation relationship reasoning in one single deep network and build the autonomous robotic grasping system. Experimental results demonstrate that with our model, Baxter robot can autonomously grasp the target with a success rate of 90.6%, 71.9% and 59.4% in object cluttered scenes, familiar stacking scenes and complex stacking scenes respectively.