Robust Multi-Robot Global Localization with Unknown Initial Pose based on Neighbor Constraints

Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional Appearance-based localization methods unusable. Recently, researchers have utilized the object's semantic invariance to generate a semantic graph to address this issue. However, previous works lack robustness and are sensitive to overlap rate of maps, resulting in unpredictable performance in real-world environments. In this paper, we propose a data association algorithm based on neighbor constraints to improve the robustness of the system. We demonstrate the effectiveness of our method on three different datasets, indicating a significant improvement in robustness compared to previous works.

LoRA-Switch: Boosting the Efficiency of Dynamic LLM Adapters via System-Algorithm Co-design

Recent literature has found that an effective method to customize or further improve large language models (LLMs) is to add dynamic adapters, such as low-rank adapters (LoRA) with Mixture-of-Experts (MoE) structures. Though such dynamic adapters incur modest computational complexity, they surprisingly lead to huge inference latency overhead, slowing down the decoding speed by 2.5+ times. In this paper, we analyze the fine-grained costs of the dynamic adapters and find that the fragmented CUDA kernel calls are the root cause. Therefore, we propose LoRA-Switch, a system-algorithm co-designed architecture for efficient dynamic adapters. Unlike most existing dynamic structures that adopt layer-wise or block-wise dynamic routing, LoRA-Switch introduces a token-wise routing mechanism. It switches the LoRA adapters and weights for each token and merges them into the backbone for inference. For efficiency, this switching is implemented with an optimized CUDA kernel, which fuses the merging operations for all LoRA adapters at once. Based on experiments with popular open-source LLMs on common benchmarks, our approach has demonstrated similar accuracy improvement as existing dynamic adapters, while reducing the decoding latency by more than 2.4 times.

MobileNetV4 -- Universal Models for the Mobile Ecosystem

We present the latest generation of MobileNets, known as MobileNetV4 (MNv4), featuring universally efficient architecture designs for mobile devices. At its core, we introduce the Universal Inverted Bottleneck (UIB) search block, a unified and flexible structure that merges Inverted Bottleneck (IB), ConvNext, Feed Forward Network (FFN), and a novel Extra Depthwise (ExtraDW) variant. Alongside UIB, we present Mobile MQA, an attention block tailored for mobile accelerators, delivering a significant 39% speedup. An optimized neural architecture search (NAS) recipe is also introduced which improves MNv4 search effectiveness. The integration of UIB, Mobile MQA and the refined NAS recipe results in a new suite of MNv4 models that are mostly Pareto optimal across mobile CPUs, DSPs, GPUs, as well as specialized accelerators like Apple Neural Engine and Google Pixel EdgeTPU - a characteristic not found in any other models tested. Finally, to further boost accuracy, we introduce a novel distillation technique. Enhanced by this technique, our MNv4-Hybrid-Large model delivers 87% ImageNet-1K accuracy, with a Pixel 8 EdgeTPU runtime of just 3.8ms.

Personal LLM Agents: Insights and Survey about the Capability, Efficiency and Security

Since the advent of personal computing devices, intelligent personal assistants (IPAs) have been one of the key technologies that researchers and engineers have focused on, aiming to help users efficiently obtain information and execute tasks, and provide users with more intelligent, convenient, and rich interaction experiences. With the development of smartphones and IoT, computing and sensing devices have become ubiquitous, greatly expanding the boundaries of IPAs. However, due to the lack of capabilities such as user intent understanding, task planning, tool using, and personal data management etc., existing IPAs still have limited practicality and scalability. Recently, the emergence of foundation models, represented by large language models (LLMs), brings new opportunities for the development of IPAs. With the powerful semantic understanding and reasoning capabilities, LLM can enable intelligent agents to solve complex problems autonomously. In this paper, we focus on Personal LLM Agents, which are LLM-based agents that are deeply integrated with personal data and personal devices and used for personal assistance. We envision that Personal LLM Agents will become a major software paradigm for end-users in the upcoming era. To realize this vision, we take the first step to discuss several important questions about Personal LLM Agents, including their architecture, capability, efficiency and security. We start by summarizing the key components and design choices in the architecture of Personal LLM Agents, followed by an in-depth analysis of the opinions collected from domain experts. Next, we discuss several key challenges to achieve intelligent, efficient and secure Personal LLM Agents, followed by a comprehensive survey of representative solutions to address these challenges.

BiSwift: Bandwidth Orchestrator for Multi-Stream Video Analytics on Edge

High-definition (HD) cameras for surveillance and road traffic have experienced tremendous growth, demanding intensive computation resources for real-time analytics. Recently, offloading frames from the front-end device to the back-end edge server has shown great promise. In multi-stream competitive environments, efficient bandwidth management and proper scheduling are crucial to ensure both high inference accuracy and high throughput. To achieve this goal, we propose BiSwift, a bi-level framework that scales the concurrent real-time video analytics by a novel adaptive hybrid codec integrated with multi-level pipelines, and a global bandwidth controller for multiple video streams. The lower-level front-back-end collaborative mechanism (called adaptive hybrid codec) locally optimizes the accuracy and accelerates end-to-end video analytics for a single stream. The upper-level scheduler aims to accuracy fairness among multiple streams via the global bandwidth controller. The evaluation of BiSwift shows that BiSwift is able to real-time object detection on 9 streams with an edge device only equipped with an NVIDIA RTX3070 (8G) GPU. BiSwift improves 10%$\sim$21% accuracy and presents 1.2$\sim$9$\times$ throughput compared with the state-of-the-art video analytics pipelines.

Serving MoE Models on Resource-constrained Edge Devices via Dynamic Expert Swapping

Mixture of experts (MoE) is a popular technique in deep learning that improves model capacity with conditionally-activated parallel neural network modules (experts). However, serving MoE models in resource-constrained latency-critical edge scenarios is challenging due to the significantly increased model size and complexity. In this paper, we first analyze the behavior pattern of MoE models in continuous inference scenarios, which leads to three key observations about the expert activations, including temporal locality, exchangeability, and skippable computation. Based on these observations, we introduce PC-MoE, an inference framework for resource-constrained continuous MoE model serving. The core of PC-MoE is a new data structure, Parameter Committee, that intelligently maintains a subset of important experts in use to reduce resource consumption. The optimal configuration of Parameter Committee is found offline by a profiling-guided committee planner, and expert swapping and request handling at runtime are managed by an adaptive committee scheduler. To evaluate the effectiveness of PC-MoE, we conduct experiments using state-of-the-art MoE models on common computer vision and natural language processing tasks. The results demonstrate optimal trade-offs between resource consumption and model accuracy achieved by PC-MoE. For instance, on object detection tasks with the Swin-MoE model, our approach can reduce memory usage and latency by 42.34% and 18.63% with only 0.10% accuracy degradation.

ReMaX: Relaxing for Better Training on Efficient Panoptic Segmentation

This paper presents a new mechanism to facilitate the training of mask transformers for efficient panoptic segmentation, democratizing its deployment. We observe that due to its high complexity, the training objective of panoptic segmentation will inevitably lead to much higher false positive penalization. Such unbalanced loss makes the training process of the end-to-end mask-transformer based architectures difficult, especially for efficient models. In this paper, we present ReMaX that adds relaxation to mask predictions and class predictions during training for panoptic segmentation. We demonstrate that via these simple relaxation techniques during training, our model can be consistently improved by a clear margin \textbf{without} any extra computational cost on inference. By combining our method with efficient backbones like MobileNetV3-Small, our method achieves new state-of-the-art results for efficient panoptic segmentation on COCO, ADE20K and Cityscapes. Code and pre-trained checkpoints will be available at \url{https://github.com/google-research/deeplab2}.

AccDecoder: Accelerated Decoding for Neural-enhanced Video Analytics

The quality of the video stream is key to neural network-based video analytics. However, low-quality video is inevitably collected by existing surveillance systems because of poor quality cameras or over-compressed/pruned video streaming protocols, e.g., as a result of upstream bandwidth limit. To address this issue, existing studies use quality enhancers (e.g., neural super-resolution) to improve the quality of videos (e.g., resolution) and eventually ensure inference accuracy. Nevertheless, directly applying quality enhancers does not work in practice because it will introduce unacceptable latency. In this paper, we present AccDecoder, a novel accelerated decoder for real-time and neural-enhanced video analytics. AccDecoder can select a few frames adaptively via Deep Reinforcement Learning (DRL) to enhance the quality by neural super-resolution and then up-scale the unselected frames that reference them, which leads to 6-21% accuracy improvement. AccDecoder provides efficient inference capability via filtering important frames using DRL for DNN-based inference and reusing the results for the other frames via extracting the reference relationship among frames and blocks, which results in a latency reduction of 20-80% than baselines.

MOSAIC: Mobile Segmentation via decoding Aggregated Information and encoded Context

We present a next-generation neural network architecture, MOSAIC, for efficient and accurate semantic image segmentation on mobile devices. MOSAIC is designed using commonly supported neural operations by diverse mobile hardware platforms for flexible deployment across various mobile platforms. With a simple asymmetric encoder-decoder structure which consists of an efficient multi-scale context encoder and a light-weight hybrid decoder to recover spatial details from aggregated information, MOSAIC achieves new state-of-the-art performance while balancing accuracy and computational cost. Deployed on top of a tailored feature extraction backbone based on a searched classification network, MOSAIC achieves a 5% absolute accuracy gain surpassing the current industry standard MLPerf models and state-of-the-art architectures.

Discovering Multi-Hardware Mobile Models via Architecture Search

Developing efficient models for mobile phones or other on-device deployments has been a popular topic in both industry and academia. In such scenarios, it is often convenient to deploy the same model on a diverse set of hardware devices owned by different end users to minimize the costs of development, deployment and maintenance. Despite the importance, designing a single neural network that can perform well on multiple devices is difficult as each device has its own specialty and restrictions: A model optimized for one device may not perform well on another. While most existing work proposes different models optimized for each single hardware, this paper is the first which explores the problem of finding a single model that performs well on multiple hardware. Specifically, we leverage architecture search to help us find the best model, where given a set of diverse hardware to optimize for, we first introduce a multi-hardware search space that is compatible with all examined hardware. Then, to measure the performance of a neural network over multiple hardware, we propose metrics that can characterize the overall latency performance in an average case and worst case scenario. With the multi-hardware search space and new metrics applied to Pixel4 CPU, GPU, DSP and EdgeTPU, we found models that perform on par or better than state-of-the-art (SOTA) models on each of our target accelerators and generalize well on many un-targeted hardware. Comparing with single-hardware searches, multi-hardware search gives a better trade-off between computation cost and model performance.