Frankenstein: Generating Semantic-Compositional 3D Scenes in One Tri-Plane

We present Frankenstein, a diffusion-based framework that can generate semantic-compositional 3D scenes in a single pass. Unlike existing methods that output a single, unified 3D shape, Frankenstein simultaneously generates multiple separated shapes, each corresponding to a semantically meaningful part. The 3D scene information is encoded in one single tri-plane tensor, from which multiple Singed Distance Function (SDF) fields can be decoded to represent the compositional shapes. During training, an auto-encoder compresses tri-planes into a latent space, and then the denoising diffusion process is employed to approximate the distribution of the compositional scenes. Frankenstein demonstrates promising results in generating room interiors as well as human avatars with automatically separated parts. The generated scenes facilitate many downstream applications, such as part-wise re-texturing, object rearrangement in the room or avatar cloth re-targeting.

Unified High-binding Watermark for Unconditional Image Generation Models

Deep learning techniques have implemented many unconditional image generation (UIG) models, such as GAN, Diffusion model, etc. The extremely realistic images (also known as AI-Generated Content, AIGC for short) produced by these models bring urgent needs for intellectual property protection such as data traceability and copyright certification. An attacker can steal the output images of the target model and use them as part of the training data to train a private surrogate UIG model. The implementation mechanisms of UIG models are diverse and complex, and there is no unified and effective protection and verification method at present. To address these issues, we propose a two-stage unified watermark verification mechanism with high-binding effects for such models. In the first stage, we use an encoder to invisibly write the watermark image into the output images of the original AIGC tool, and reversely extract the watermark image through the corresponding decoder. In the second stage, we design the decoder fine-tuning process, and the fine-tuned decoder can make correct judgments on whether the suspicious model steals the original AIGC tool data. Experiments demonstrate our method can complete the verification work with almost zero false positive rate under the condition of only using the model output images. Moreover, the proposed method can achieve data steal verification across different types of UIG models, which further increases the practicality of the method.

Flover: A Temporal Fusion Framework for Efficient Autoregressive Model Parallel Inference

In the rapidly evolving field of deep learning, the performance of model inference has become a pivotal aspect as models become more complex and are deployed in diverse applications. Among these, autoregressive models stand out due to their state-of-the-art performance in numerous generative tasks. These models, by design, harness a temporal dependency structure, where the current token's probability distribution is conditioned on preceding tokens. This inherently sequential characteristic, however, adheres to the Markov Chain assumption and lacks temporal parallelism, which poses unique challenges. Particularly in industrial contexts where inference requests, following a Poisson time distribution, necessitate diverse response lengths, this absence of parallelism is more profound. Existing solutions, such as dynamic batching and concurrent model instances, nevertheless, come with severe overheads and a lack of flexibility, these coarse-grained methods fall short of achieving optimal latency and throughput. To address these shortcomings, we propose Flavor -- a temporal fusion framework for efficient inference in autoregressive models, eliminating the need for heuristic settings and applies to a wide range of inference scenarios. By providing more fine-grained parallelism on the temporality of requests and employing an efficient memory shuffle algorithm, Flover achieves up to 11x faster inference on GPT models compared to the cutting-edge solutions provided by NVIDIA Triton FasterTransformer. Crucially, by leveraging the advanced tensor parallel technique, Flover proves efficacious across diverse computational landscapes, from single-GPU setups to multi-node scenarios, thereby offering robust performance optimization that transcends hardware boundaries.

Performance Characterization of using Quantization for DNN Inference on Edge Devices: Extended Version

Quantization is a popular technique used in Deep Neural Networks (DNN) inference to reduce the size of models and improve the overall numerical performance by exploiting native hardware. This paper attempts to conduct an elaborate performance characterization of the benefits of using quantization techniques -- mainly FP16/INT8 variants with static and dynamic schemes -- using the MLPerf Edge Inference benchmarking methodology. The study is conducted on Intel x86 processors and Raspberry Pi device with ARM processor. The paper uses a number of DNN inference frameworks, including OpenVINO (for Intel CPUs only), TensorFlow Lite (TFLite), ONNX, and PyTorch with MobileNetV2, VGG-19, and DenseNet-121. The single-stream, multi-stream, and offline scenarios of the MLPerf Edge Inference benchmarks are used for measuring latency and throughput in our experiments. Our evaluation reveals that OpenVINO and TFLite are the most optimized frameworks for Intel CPUs and Raspberry Pi device, respectively. We observe no loss in accuracy except for the static quantization techniques. We also observed the benefits of using quantization for these optimized frameworks. For example, INT8-based quantized models deliver $3.3\times$ and $4\times$ better performance over FP32 using OpenVINO on Intel CPU and TFLite on Raspberry Pi device, respectively, for the MLPerf offline scenario. To the best of our knowledge, this paper is the first one that presents a unique characterization study characterizing the impact of quantization for a range of DNN inference frameworks -- including OpenVINO, TFLite, PyTorch, and ONNX -- on Intel x86 processors and Raspberry Pi device with ARM processor using the MLPerf Edge Inference benchmark methodology.

Camera-Space Hand Mesh Recovery via Semantic Aggregation and Adaptive 2D-1D Registration

Recent years have witnessed significant progress in 3D hand mesh recovery. Nevertheless, because of the intrinsic 2D-to-3D ambiguity, recovering camera-space 3D information from a single RGB image remains challenging. To tackle this problem, we divide camera-space mesh recovery into two sub-tasks, i.e., root-relative mesh recovery and root recovery. First, joint landmarks and silhouette are extracted from a single input image to provide 2D cues for the 3D tasks. In the root-relative mesh recovery task, we exploit semantic relations among joints to generate a 3D mesh from the extracted 2D cues. Such generated 3D mesh coordinates are expressed relative to a root position, i.e., wrist of the hand. In the root recovery task, the root position is registered to the camera space by aligning the generated 3D mesh back to 2D cues, thereby completing cameraspace 3D mesh recovery. Our pipeline is novel in that (1) it explicitly makes use of known semantic relations among joints and (2) it exploits 1D projections of the silhouette and mesh to achieve robust registration. Extensive experiments on popular datasets such as FreiHAND, RHD, and Human3.6M demonstrate that our approach achieves stateof-the-art performance on both root-relative mesh recovery and root recovery. Our code is publicly available at https://github.com/SeanChenxy/HandMesh.

Improving Monocular Depth Estimation by Leveraging Structural Awareness and Complementary Datasets

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout, discontinuous surface, and ambiguous boundaries. In this paper, we tackle this problem in three aspects. First, to exploit the spatial relationship of visual features, we propose a structure-aware neural network with spatial attention blocks. These blocks guide the network attention to global structures or local details across different feature layers. Second, we introduce a global focal relative loss for uniform point pairs to enhance spatial constraint in the prediction, and explicitly increase the penalty on errors in depth-wise discontinuous regions, which helps preserve the sharpness of estimation results. Finally, based on analysis of failure cases for prior methods, we collect a new Hard Case (HC) Depth dataset of challenging scenes, such as special lighting conditions, dynamic objects, and tilted camera angles. The new dataset is leveraged by an informed learning curriculum that mixes training examples incrementally to handle diverse data distributions. Experimental results show that our method outperforms state-of-the-art approaches by a large margin in terms of both prediction accuracy on NYUDv2 dataset and generalization performance on unseen datasets.

Bayesian Neural Decoding Using A Diversity-Encouraging Latent Representation Learning Method

It is well established that temporal organization is critical to memory, and that the ability to temporally organize information is fundamental to many perceptual, cognitive, and motor processes. While our understanding of how the brain processes the spatial context of memories has advanced considerably, our understanding of their temporal organization lags far behind. In this paper, we propose a new approach for elucidating the neural basis of complex behaviors and temporal organization of memories. More specifically, we focus on neural decoding - the prediction of behavioral or experimental conditions based on observed neural data. In general, this is a challenging classification problem, which is of immense interest in neuroscience. Our goal is to develop a new framework that not only improves the overall accuracy of decoding, but also provides a clear latent representation of the decoding process. To accomplish this, our approach uses a Variational Auto-encoder (VAE) model with a diversity-encouraging prior based on determinantal point processes (DPP) to improve latent representation learning by avoiding redundancy in the latent space. We apply our method to data collected from a novel rat experiment that involves presenting repeated sequences of odors at a single port and testing the rats' ability to identify each odor. We show that our method leads to substantially higher accuracy rate for neural decoding and allows to discover novel biological phenomena by providing a clear latent representation of the decoding process.

Harnessing bistability for directional propulsion of untethered, soft robots

In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while on-board controls and power supplies are heavy and complicate the design process. Here we present a simple design principle for an untethered, entirely soft, swimming robot with the ability to achieve preprogrammed, directional propulsion without a battery or on-board electronics. Locomotion is achieved by employing actuators that harness the large displacements of bistable elements, triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuates the robot's fins. Our robots are fabricated entirely using a commercially available 3D printer with no post-processing. As a proof-of-concept, we demonstrate the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point.