Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2

Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of its surroundings. Lifelong LERF maintains this representation over time by detecting semantic changes and selectively updating these regions of the environment, avoiding the need to exhaustively remap. Human users can query inventory by providing natural language queries and receiving a 3D heatmap of potential object locations. To manage the computational load, we use Fog-ROS2, a cloud robotics platform, to offload resource-intensive tasks. Lifelong LERF obtains poses from a monocular RGBD SLAM backend, and uses these poses to progressively optimize a Language Embedded Radiance Field (LERF) for semantic monitoring. Experiments with 3-5 objects arranged on a tabletop and a Turtlebot with a RealSense camera suggest that Lifelong LERF can persistently adapt to changes in objects with up to 91% accuracy.

Bringing the State-of-the-Art to Customers: A Neural Agent Assistant Framework for Customer Service Support

Building Agent Assistants that can help improve customer service support requires inputs from industry users and their customers, as well as knowledge about state-of-the-art Natural Language Processing (NLP) technology. We combine expertise from academia and industry to bridge the gap and build task/domain-specific Neural Agent Assistants (NAA) with three high-level components for: (1) Intent Identification, (2) Context Retrieval, and (3) Response Generation. In this paper, we outline the pipeline of the NAA's core system and also present three case studies in which three industry partners successfully adapt the framework to find solutions to their unique challenges. Our findings suggest that a collaborative process is instrumental in spurring the development of emerging NLP models for Conversational AI tasks in industry. The full reference implementation code and results are available at \url{https://github.com/VectorInstitute/NAA}

NeuDep: Neural Binary Memory Dependence Analysis

Determining whether multiple instructions can access the same memory location is a critical task in binary analysis. It is challenging as statically computing precise alias information is undecidable in theory. The problem aggravates at the binary level due to the presence of compiler optimizations and the absence of symbols and types. Existing approaches either produce significant spurious dependencies due to conservative analysis or scale poorly to complex binaries. We present a new machine-learning-based approach to predict memory dependencies by exploiting the model's learned knowledge about how binary programs execute. Our approach features (i) a self-supervised procedure that pretrains a neural net to reason over binary code and its dynamic value flows through memory addresses, followed by (ii) supervised finetuning to infer the memory dependencies statically. To facilitate efficient learning, we develop dedicated neural architectures to encode the heterogeneous inputs (i.e., code, data values, and memory addresses from traces) with specific modules and fuse them with a composition learning strategy. We implement our approach in NeuDep and evaluate it on 41 popular software projects compiled by 2 compilers, 4 optimizations, and 4 obfuscation passes. We demonstrate that NeuDep is more precise (1.5x) and faster (3.5x) than the current state-of-the-art. Extensive probing studies on security-critical reverse engineering tasks suggest that NeuDep understands memory access patterns, learns function signatures, and is able to match indirect calls. All these tasks either assist or benefit from inferring memory dependencies. Notably, NeuDep also outperforms the current state-of-the-art on these tasks.

Long-Horizon Motion Planning via Sampling and Segmented Trajectory Optimization

This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which combines the merits of sampling-based planning, optimization-based planning, and trajectory splitting to quickly plan for a collision-free and dynamically-feasible motion plan. When generating a plan, the RRT* layer quickly samples a semi-optimal path and sets it as an initial reference path. Then, the sOpt layer splits the reference path and performs optimization on each segment. It then splits the new trajectory again and repeats the process until the whole trajectory converges. We also propose to reduce the number of segments before convergence with the aim of further reducing computation time. Simulation results show that RRT*-sOpt benefits from the hybrid structure with trajectory splitting and performs robustly in various robot platforms and scenarios.

Fixed Priority Global Scheduling from a Deep Learning Perspective

Deep Learning has been recently recognized as one of the feasible solutions to effectively address combinatorial optimization problems, which are often considered important yet challenging in various research domains. In this work, we first present how to adopt Deep Learning for real-time task scheduling through our preliminary work upon fixed priority global scheduling (FPGS) problems. We then briefly discuss possible generalizations of Deep Learning adoption for several realistic and complicated FPGS scenarios, e.g., scheduling tasks with dependency, mixed-criticality task scheduling. We believe that there are many opportunities for leveraging advanced Deep Learning technologies to improve the quality of scheduling in various system configurations and problem scenarios.