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AI Engineering - Software Engineering for AI (WAIN), IEEE/ACM Workshop on

作者： Andrei Paleyes Siyuan Guo Bernhard Scholkopf Neil D. Lawrence Department of Computer Science and Technology University of Cambridge Max Planck Institute for Intelligent Systems

Component-based development is one of the core principles behind modern software engineering practices. Understanding of causal relationships between components of a software system can yield significant benefits to developers. Yet modern software design approaches make it difficult to track and discover such relationships at system scale, which leads to growing intellectual debt. In this paper we consider an alternative approach to software design, flow-based programming (FBP), and draw the attention of the community to the connection between dataflow graphs produced by FBP and structural causal models. With expository examples we show how this connection can be leveraged to improve day-to-day tasks in software projects, including fault localisation, business analysis and experimentation.

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A Scalable Real-time Semantic Segmentation Network for Autonomous Driving 1

A Scalable Real-time Semantic Segmentation Network for Auton...

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1st Workshop on Advanced Multimedia Computing for Smart Manufacturing and Engineering, AMC-SME 2023

作者： Liu, Jun Wu, Chao Yuan, Geng Niu, Wei Zhang, Wenbin Song, Houbing Herbert Robotics Institute of School of Computer Science Carnegie Mellon University Pittsburgh United States Department of Electrical & Computer Engineering Northeastern University Boston United States School of Computing University of Georgia Athens United States Department of Computer Science Michigan Technological University Houghton United States Department of Information Systems University of Maryland Baltimore County Baltimore United States

ISBN: (纸本)9798400702730

Computational resources are limited on real-time embedded devices, so the available computing cost of deployment on the target platform must be considered. We develop a feature extraction module based on the MobileNet backbone that can be adjusted in terms of computational complexity and capacity using the depth multiplier parameter, classifier depth, and kernel depth. These three parameters allow us to control the count of channels within the network, effectively managing the model's capacity and computational requirements. To achieve semantic segmentation, we incorporate additional components, such as an extension module. This extension module typically includes 1x1 pointwise convolutional layers for pixel-level classification and a transposed convolutional layer for upsampling the output to the original input image size. By combining the feature extraction module with this extension module, we can create a complete architecture capable of performing semantic segmentation tasks. The feature extraction module provides the initial feature extraction and the extension module adds the necessary components for accurate pixel-wise classification and upsampling. Compared to Hardware-aware Neural Architecture Search (NAS), pruning, runtime pruning, and knowledge distillation methods, our model has several advantages in terms of modular design, structural controllability, ease of implementation, and cost-effectiveness. Our computational efficiency, as measured by FLOPS, is highly competitive. Our method is distinguished by solving the problem of MobileNet's inability to adjust the size and number of convolution kernels. It achieves this through adaptable parameter tuning, including MobileNet's depth multiplier, the kernel size in the FCN head's Separable Convolution layer, and the depth of the first Point-wise Convolution layer. These adjustments are customized to match hardware's max multiply-accumulates (MACs), optimizing network capacity and maximizing resource utilizat

关键词： Feature extraction

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Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Maksim Roslavtsev Alexander Eryomin Ramil Safin Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of the robot’s motion. This paper presents an implementation of Rev1 and Rev2 Bug algorithms for the Robot Operating System (ROS) Noetic framework with a virtual model of the TurtleBot3 Burger robot. Given algorithms are validated in Gazebo simulation using various convex and maze environments. The results demonstrate superiority of Rev1 method over Rev2 in trajectory length in convex maps. However, Rev2 finds shorter paths in maze type environments.

关键词： Visualization Navigation Operating systems computer bugs Tactile sensors Real-time systems Trajectory Motion measurement Robots Testing

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Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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Bilateral-Head Region-Based Convolutional Neural Networks: A Unified Approach for Incremental Few-Shot Object Detection

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4376-4390页

作者： Li, Yiting Zhu, Haiyue Tian, Sichao Ma, Jun Xiang, Cheng Vadakkepat, Prahlad National University of Singapore Department of Electrical and Computer Engineering 117583 Singapore Singapore Institute of Manufacturing Technology Agency for Science Technology and Research 138634 Singapore Peking Union Medical College Institute of Medicinal Plant Development Chinese Academy of Medical Sciences Beijing100193 China Robotics and Autonomous Systems Thrust Guangzhou511453 China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong SAR Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen Futian518045 China

Practical object detection systems are highly desired to be open-ended for learning on frequently evolved datasets. Moreover, learning with little supervision further adds flexibility for real-world applications such as autonomous driving and robotics, where large-scale datasets could be prohibitive or expensive to obtain. However, continual adaption with small training examples often results in catastrophic forgetting and dramatic overfitting. To address such issues, a compositional learning system is proposed to enable effective incremental object detection from nonstationary and few-shot data streams. First of all, a novel bilateral-head framework is proposed to decouple the representation learning of base (pretrained) and novel (few-shot) classes into separate embedding spaces, which takes care of novel concept integration and base knowledge retention simultaneously. Moreover, to enhance learning stability, a robust parameter updating rule, i.e., recall and progress mechanism, is carried out to constrain the optimization trajectory of sequential model adaption. Beyond that, to enforce intertask class discrimination with little memory burden, we present a between-class regularization method that expands the decision space of few-shot classes for constructing unbiased feature representation. Final, we deeply investigate the incomplete annotation issue considering the realistic scenario of incremental few-shot object detection (iFSOD) and propose a semisupervised object labeling mechanism to accurately recover the missing annotations for previously encountered classes, which further enhances the robustness of the target detector to counteract catastrophic forgetting. Extensive experiments conducted on both Pascal visual object classes dataset (VOC) and microsoft common objects in context dataset (MS-COCO) datasets demonstrate the effectiveness of our method. © 2020 IEEE.

关键词： Feature extraction

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UNIVERSAL VISION-LANGUAGE DENSE RETRIEVAL: LEARNING A UNIFIED REPRESENTATION SPACE FOR MULTI-MODAL RETRIEVAL 11

UNIVERSAL VISION-LANGUAGE DENSE RETRIEVAL: LEARNING A UNIFIE...

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11th International Conference on Learning Representations, ICLR 2023

作者： Liu, Zhenghao Xiong, Chenyan Lv, Yuanhuiyi Liu, Zhiyuan Yu, Ge Department of Computer Science and Technology Northeastern University Shenyang China Microsoft Research Redmond United States Department of Computer Science and Technology Tsinghua University Beijing China Institute for Artificial Intelligence Tsinghua University Beijing China State Key Lab on Intelligent Technology and Systems Tsinghua University Beijing China

This paper presents Universal Vision-Language Dense Retrieval (UniVL-DR), which builds a unified model for multi-modal retrieval. UniVL-DR encodes queries and multi-modality resources in an embedding space for searching candidates from different modalities. To learn a unified embedding space for multi-modal retrieval, UniVL-DR proposes two techniques: 1) Universal embedding optimization strategy, which contrastively optimizes the embedding space using the modality-balanced hard negatives;2) Image verbalization method, which bridges the modality gap between images and texts in the raw data space. UniVL-DR achieves the state-of-the-art on the multi-modal open-domain question answering benchmark, WebQA, and outperforms all retrieval models on the two subtasks, text-text retrieval and text-image retrieval. It demonstrates that universal multi-modal search is feasible to replace the divide-and-conquer pipeline with a united model and also benefits single/cross modality tasks. All source codes of this work are available at https://***/OpenMatch/UniVL-DR. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Embeddings

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Development of a Robotic Hand Glove System for Secure Grasp with AI Wireless Sensor Data 20

Development of a Robotic Hand Glove System for Secure Grasp ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Almassri, Ahmed Koyanagi, Ken'Ichi Wada, Chikamune Horio, Keiichi Hasan, Wan Zuha Wan Toyama Prefectural University Department of Intelligent Robotics 5180 Kurokawa Toyama Imizu Japan Kyushu Institute of Technology Department of Life Science and Systems Engineering 2-4 Hibikino Fukuoka Kitakyushu Japan Universiti Putra Malaysia Department of Electrical and Electronic Selangor 43400 Malaysia Gaza Palestine

ISBN: (纸本)9798350320831

Robotic Hand glove is one of the most commonly used technique in the rehabilitation systems. In this paper, we developed a robotic hand system with a proposed sensing mechanism-based AI algorithm, which can acquire grasping forces from human fingers. It is composed of five low-cost force sensors attached to the glove's fingertips and wireless data logger. Several experiments including grasping a plastic bottle and squeezing a tennis ball are implemented to verify the efficiency of the proposed system using the developed glove. As a result, it accurately estimates the forces applied by each finger with the aim of achieving a secure grasp comparison with conventional methods. © 2023 IEEE.

关键词： Robotic arms

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Deep-Q learning-based heterogeneous earliest finish time scheduling algorithm for scientific workflows in cloud

Deep-Q learning-based heterogeneous earliest finish time sch...

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作者： Kaur, Avinash Singh, Parminder Singh Batth, Ranbir Peng Lim, Chee Department of Computer Science and Engineering Lovely Professional University Punjab India Institute for Intelligent Systems Research and Innovation Deakin University Waurn Ponds Australia

The complex and large-scale scientific workflow applications are effectively executes on the cloud. The performance of cloud computing highly depends on the task scheduling. Optimal workflow scheduling is still a challenge that needs to be addressed due to the conflicting objectives and increasing demand for quality of service. Task scheduling is an NP-hard problem due to its complexity. The newly introduced methods for resolving the problem of task scheduling are facing challenges to take the benefits of all aspects of cloud computing. In this article, we study the joint optimization of cost and makespan of scheduling workflows in infrastructure as a service clouds and propose a new workflow scheduling scheme using deep learning. In this scheme, a deep-Q learning-based heterogeneous earliest-finish-time (DQ-HEFT) algorithm is developed, which closely integrates the deep learning mechanism with the task scheduling heuristic HEFT. The workflowsim simulator is used for the experiment of the real-world and synthetic workflows. The experiment results demonstrate the efficiency of our proposed approach compared with existing algorithms. This technique can achieve significantly better makespan and speed metrics with a remarkably higher volume of data and can run faster compared with the existing workflow scheduling algorithms in cloud computing environment. © 2020 John Wiley & Sons, Ltd.

关键词： Multiobjective optimization

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Parallel Path Planning for Multi-Robot Coordination

Parallel Path Planning for Multi-Robot Coordination

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Jorge Ribeiro Marina Brilhante Diogo Miguel Matos Carlos A. Silva Héber Sobreira Pedro Costa CRIIS - Centre of Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto Porto Portugal Flowbotic Mobile Systems S.A Viseu Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Multi-robot coordination aims to synchronize robots for optimized, collision-free paths in shared environments, addressing task allocation, collision avoidance, and path planning challenges. The Time Enhanced A* (TEA*) algorithm addresses multi-robot pathfinding offering a centralized and sequential approach. However, its sequential nature can lead to order-dependent variability in solutions. This study enhances TEA* through multi-threading, using thread pooling and parallelization techniques via OpenMP, and a sensitivity analysis enabling parallel exploration of robot-solving orders to improve robustness and the likelihood of finding efficient, feasible paths in complex environments. The results show that this approach improved coordination efficiency, reducing replanning needs and simulation time. Additionally, the sensitivity analysis assesses TEA*'s scalability across various graph sizes and number of robots, providing insights into how these factors influence the efficiency and performance of the algorithm.

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RJoules: An Energy Measurement Tool for R 23

RJoules: An Energy Measurement Tool for R

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Proceedings of the 38th IEEE/ACM International Conference on Automated Software Engineering

作者： Rajrupa Chattaraj Sridhar Chimalakonda Research in Intelligent Systems and Human Analytics Lab Department of Computer Science and Engineering Indian Institute of Technology Tirupati India

ISBN: (纸本)9798350329964

With the exponential growth of data, the demand for effective data analysis tools has increased significantly. R language, known for its statistical modeling and data analysis capabilities, has become one of the most popular programming languages among data scientists and researchers. As the importance of energy-aware software systems continues to rise, several studies investigate the impact of source code and different stages of machine learning model training on energy consumption. However, existing studies in this domain primarily focus on programming languages like Python and Java, resulting in a lack of energy measuring tools for other programming languages such as R. To address this gap, we propose "RJoules", a tool designed to measure the energy consumption of R code snippets. We evaluate the correctness and performance of RJoules by applying it to four machine learning algorithms on three different systems. Our aim is to support developers and practitioners in building energy-aware systems in R. The demonstration of the tool is available at https://***/yMKFuvAM-DE and related artifacts at https://***/RJoules/.

关键词： energy measurement

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