ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimation

In medical and industrial domains, providing guidance for assembly processes is critical to ensure efficiency and safety. Errors in assembly can lead to significant consequences such as extended surgery times, and prolonged manufacturing or maintenance times in industry. Assembly scenarios can benefit from in-situ AR visualization to provide guidance, reduce assembly times and minimize errors. To enable in-situ visualization 6D pose estimation can be leveraged. Existing 6D pose estimation techniques primarily focus on individual objects and static captures. However, assembly scenarios have various dynamics including occlusion during assembly and dynamics in the assembly objects appearance. Existing work, combining object detection/6D pose estimation and assembly state detection focuses either on pure deep learning-based approaches, or limit the assembly state detection to building blocks. To address the challenges of 6D pose estimation in combination with assembly state detection, our approach ASDF builds upon the strengths of YOLOv8, a real-time capable object detection framework. We extend this framework, refine the object pose and fuse pose knowledge with network-detected pose information. Utilizing our late fusion in our Pose2State module results in refined 6D pose estimation and assembly state detection. By combining both pose and state information, our Pose2State module predicts the final assembly state with precision. Our evaluation on our ASDF dataset shows that our Pose2State module leads to an improved assembly state detection and that the improvement of the assembly state further leads to a more robust 6D pose estimation. Moreover, on the GBOT dataset, we outperform the pure deep learning-based network, and even outperform the hybrid and pure tracking-based approaches.

GBOT: Graph-Based 3D Object Tracking for Augmented Reality-Assisted Assembly Guidance

Guidance for assemblable parts is a promising field for augmented reality. Augmented reality assembly guidance requires 6D object poses of target objects in real time. Especially in time-critical medical or industrial settings, continuous and markerless tracking of individual parts is essential to visualize instructions superimposed on or next to the target object parts. In this regard, occlusions by the user's hand or other objects and the complexity of different assembly states complicate robust and real-time markerless multi-object tracking. To address this problem, we present Graph-based Object Tracking (GBOT), a novel graph-based single-view RGB-D tracking approach. The real-time markerless multi-object tracking is initialized via 6D pose estimation and updates the graph-based assembly poses. The tracking through various assembly states is achieved by our novel multi-state assembly graph. We update the multi-state assembly graph by utilizing the relative poses of the individual assembly parts. Linking the individual objects in this graph enables more robust object tracking during the assembly process. For evaluation, we introduce a synthetic dataset of publicly available and 3D printable assembly assets as a benchmark for future work. Quantitative experiments in synthetic data and further qualitative study in real test data show that GBOT can outperform existing work towards enabling context-aware augmented reality assembly guidance. Dataset and code will be made publically available.

Nurse-in-the-Loop Artificial Intelligence for Precision Management of Type 2 Diabetes in a Clinical Trial Utilizing Transfer-Learned Predictive Digital Twin

Background: Type 2 diabetes (T2D) is a prevalent chronic disease with a significant risk of serious health complications and negative impacts on the quality of life. Given the impact of individual characteristics and lifestyle on the treatment plan and patient outcomes, it is crucial to develop precise and personalized management strategies. Artificial intelligence (AI) provides great promise in combining patterns from various data sources with nurses' expertise to achieve optimal care. Methods: This is a 6-month ancillary study among T2D patients (n = 20, age = 57 +- 10). Participants were randomly assigned to an intervention (AI, n=10) group to receive daily AI-generated individualized feedback or a control group without receiving the daily feedback (non-AI, n=10) in the last three months. The study developed an online nurse-in-the-loop predictive control (ONLC) model that utilizes a predictive digital twin (PDT). The PDT was developed using a transfer-learning-based Artificial Neural Network. The PDT was trained on participants self-monitoring data (weight, food logs, physical activity, glucose) from the first three months, and the online control algorithm applied particle swarm optimization to identify impactful behavioral changes for maintaining the patient's glucose and weight levels for the next three months. The ONLC provided the intervention group with individualized feedback and recommendations via text messages. The PDT was re-trained weekly to improve its performance. Findings: The trained ONLC model achieved >=80% prediction accuracy across all patients while the model was tuned online. Participants in the intervention group exhibited a trend of improved daily steps and stable or improved total caloric and total carb intake as recommended.

PANDA: Architecture-Level Power Evaluation by Unifying Analytical and Machine Learning Solutions

Power efficiency is a critical design objective in modern microprocessor design. To evaluate the impact of architectural-level design decisions, an accurate yet efficient architecture-level power model is desired. However, widely adopted data-independent analytical power models like McPAT and Wattch have been criticized for their unreliable accuracy. While some machine learning (ML) methods have been proposed for architecture-level power modeling, they rely on sufficient known designs for training and perform poorly when the number of available designs is limited, which is typically the case in realistic scenarios. In this work, we derive a general formulation that unifies existing architecture-level power models. Based on the formulation, we propose PANDA, an innovative architecture-level solution that combines the advantages of analytical and ML power models. It achieves unprecedented high accuracy on unknown new designs even when there are very limited designs for training, which is a common challenge in practice. Besides being an excellent power model, it can predict area, performance, and energy accurately. PANDA further supports power prediction for unknown new technology nodes. In our experiments, besides validating the superior performance and the wide range of functionalities of PANDA, we also propose an application scenario, where PANDA proves to identify high-performance design configurations given a power constraint.

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.

DeSTSeg: Segmentation Guided Denoising Student-Teacher for Anomaly Detection

Visual anomaly detection, an important problem in computer vision, is usually formulated as a one-class classification and segmentation task. The student-teacher (S-T) framework has proved to be effective in solving this challenge. However, previous works based on S-T only empirically applied constraints on normal data and fused multi-level information. In this study, we propose an improved model called DeSTSeg, which integrates a pre-trained teacher network, a denoising student encoder-decoder, and a segmentation network into one framework. First, to strengthen the constraints on anomalous data, we introduce a denoising procedure that allows the student network to learn more robust representations. From synthetically corrupted normal images, we train the student network to match the teacher network feature of the same images without corruption. Second, to fuse the multi-level S-T features adaptively, we train a segmentation network with rich supervision from synthetic anomaly masks, achieving a substantial performance improvement. Experiments on the industrial inspection benchmark dataset demonstrate that our method achieves state-of-the-art performance, 98.6% on image-level ROC, 75.8% on pixel-level average precision, and 76.4% on instance-level average precision.

Neural Image Beauty Predictor Based on Bradley-Terry Model

Image beauty assessment is an important subject of computer vision. Therefore, building a model to mimic the image beauty assessment becomes an important task. To better imitate the behaviours of the human visual system (HVS), a complete survey about images of different categories should be implemented. This work focuses on image beauty assessment. In this study, the pairwise evaluation method was used, which is based on the Bradley-Terry model. We believe that this method is more accurate than other image rating methods within an image group. Additionally, Convolution neural network (CNN), which is fit for image quality assessment, is used in this work. The first part of this study is a survey about the image beauty comparison of different images. The Bradley-Terry model is used for the calculated scores, which are the target of CNN model. The second part of this work focuses on the results of the image beauty prediction, including landscape images, architecture images and portrait images. The models are pretrained by the AVA dataset to improve the performance later. Then, the CNN model is trained with the surveyed images and corresponding scores. Furthermore, this work compares the results of four CNN base networks, i.e., Alex net, VGG net, Squeeze net and LSiM net, as discussed in literature. In the end, the model is evaluated by the accuracy in pairs, correlation coefficient and relative error calculated by survey results. Satisfactory results are achieved by our proposed methods with about 70 percent accuracy in pairs. Our work sheds more light on the novel image beauty assessment method. While more studies should be conducted, this method is a promising step.

NASGEM: Neural Architecture Search via Graph Embedding Method

Neural Architecture Search (NAS) automates and prospers the design of neural networks. Recent studies show that mapping the discrete neural architecture search space into a continuous space which is more compact, more representative, and easier to optimize can significantly reduce the exploration cost. However, existing differentiable methods cannot preserve the graph information when projecting a neural architecture into a continuous space, causing inaccuracy and/or reduced representation capability in the mapped space. Moreover, existing methods can explore only a very limited inner-cell search space due to the cell representation limitation or poor scalability. To enable quick search of more sophisticated neural architectures while preserving graph information, we propose NASGEM which stands for Neural Architecture Search via Graph Embedding Method. NASGEM is driven by a novel graph embedding method integrated with similarity estimation to capture the inner-cell information in the discrete space. Thus, NASGEM is able to search a wider space (e.g., 30 nodes in a cell). By precisely estimating the graph distance, NASGEM can efficiently explore a large amount of candidate cells to enable a more flexible cell design while still keeping the search cost low. GEMNet, which is a set of networks discovered by NASGEM, has higher accuracy while less parameters (up to 62% less) and Multiply-Accumulates (up to 20.7% less) compared to networks crafted by existing differentiable search methods. Our ablation study on NASBench-101 further validates the effectiveness of the proposed graph embedding method, which is complementary to many existing NAS approaches and can be combined to achieve better performance.

PENNI: Pruned Kernel Sharing for Efficient CNN Inference

Although state-of-the-art (SOTA) CNNs achieve outstanding performance on various tasks, their high computation demand and massive number of parameters make it difficult to deploy these SOTA CNNs onto resource-constrained devices. Previous works on CNN acceleration utilize low-rank approximation of the original convolution layers to reduce computation cost. However, these methods are very difficult to conduct upon sparse models, which limits execution speedup since redundancies within the CNN model are not fully exploited. We argue that kernel granularity decomposition can be conducted with low-rank assumption while exploiting the redundancy within the remaining compact coefficients. Based on this observation, we propose PENNI, a CNN model compression framework that is able to achieve model compactness and hardware efficiency simultaneously by (1) implementing kernel sharing in convolution layers via a small number of basis kernels and (2) alternately adjusting bases and coefficients with sparse constraints. Experiments show that we can prune 97% parameters and 92% FLOPs on ResNet18 CIFAR10 with no accuracy loss, and achieve 44% reduction in run-time memory consumption and a 53% reduction in inference latency.

SwiftNet: Using Graph Propagation as Meta-knowledge to Search Highly Representative Neural Architectures

Designing neural architectures for edge devices is subject to constraints of accuracy, inference latency, and computational cost. Traditionally, researchers manually craft deep neural networks to meet the needs of mobile devices. Neural Architecture Search (NAS) was proposed to automate the neural architecture design without requiring extensive domain expertise and significant manual efforts. Recent works utilized NAS to design mobile models by taking into account hardware constraints and achieved state-of-the-art accuracy with fewer parameters and less computational cost measured in Multiply-accumulates (MACs). To find highly compact neural architectures, existing works relies on predefined cells and directly applying width multiplier, which may potentially limit the model flexibility, reduce the useful feature map information, and cause accuracy drop. To conquer this issue, we propose GRAM(GRAph propagation as Meta-knowledge) that adopts fine-grained (node-wise) search method and accumulates the knowledge learned in updates into a meta-graph. As a result, GRAM can enable more flexible search space and achieve higher search efficiency. Without the constraints of predefined cell or blocks, we propose a new structure-level pruning method to remove redundant operations in neural architectures. SwiftNet, which is a set of models discovered by GRAM, outperforms MobileNet-V2 by 2.15x higher accuracy density and 2.42x faster with similar accuracy. Compared with FBNet, SwiftNet reduces the search cost by 26x and achieves 2.35x higher accuracy density and 1.47x speedup while preserving similar accuracy. SwiftNetcan obtain 63.28% top-1 accuracy on ImageNet-1K with only 53M MACs and 2.07M parameters. The corresponding inference latency is only 19.09 ms on Google Pixel 1.