由于最近在ML和IoT中的突破，部署机器学习（ML）在MilliWatt-Scale-Scale-Scale-Scale Edge设备（Tinyml）上正在越来越受欢迎。但是，Tinyml的功能受到严格的功率和计算约束的限制。 Tinyml中的大多数当代研究都集中在模型压缩技术上，例如模型修剪和量化，以适合低端设备上的ML模型。然而，由于积极的压缩迅速缩小了模型能力和准确性，因此通过现有技术获得的能源消耗和推理时间的改善是有限的。在保留其模型容量的同时，改善推理时间和/或降低功率的另一种方法是通过早期筛选网络。这些网络将中间分类器沿基线神经网络放置，如果中间分类器对其预测表现出足够的信心，则可以促进神经网络计算的早期退出。早期效果网络的先前工作集中在大型网络上，超出了通常用于Tinyml应用程序的功能。在本文中，我们讨论了将早期外观添加到最先进的小型CNN中的挑战，并设计了一种早期筛选架构T-RECX，以解决这些挑战。此外，我们开发了一种方法来减轻在最终退出中通过利用早期外观学到的高级代表性来减轻网络过度思考的影响。我们从MLPERF微小的基准套件中评估了三个CNN的T-RECX，用于图像分类，关键字发现和视觉唤醒单词检测任务。我们的结果表明，T-RECX提高了基线网络的准确性，并显着减少了微小CNN的平均推理时间。 T-RECX达到了32.58％的平均拖鞋降低，以换取所有评估模型的1％精度。此外，我们的技术提高了我们评估的三个模型中的两个基线网络的准确性

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

We consider the contextual bandit problem on general action and context spaces, where the learner's rewards depend on their selected actions and an observable context. This generalizes the standard multi-armed bandit to the case where side information is available, e.g., patients' records or customers' history, which allows for personalized treatment. We focus on consistency -- vanishing regret compared to the optimal policy -- and show that for large classes of non-i.i.d. contexts, consistency can be achieved regardless of the time-invariant reward mechanism, a property known as universal consistency. Precisely, we first give necessary and sufficient conditions on the context-generating process for universal consistency to be possible. Second, we show that there always exists an algorithm that guarantees universal consistency whenever this is achievable, called an optimistically universal learning rule. Interestingly, for finite action spaces, learnable processes for universal learning are exactly the same as in the full-feedback setting of supervised learning, previously studied in the literature. In other words, learning can be performed with partial feedback without any generalization cost. The algorithms balance a trade-off between generalization (similar to structural risk minimization) and personalization (tailoring actions to specific contexts). Lastly, we consider the case of added continuity assumptions on rewards and show that these lead to universal consistency for significantly larger classes of data-generating processes.

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this capability has been demonstrated in other fields such as computer vision, natural language processing or speech recognition, it remains to be shown in robotics, where the generalization capabilities of the models are particularly critical due to the difficulty of collecting real-world robotic data. We argue that one of the keys to the success of such general robotic models lies with open-ended task-agnostic training, combined with high-capacity architectures that can absorb all of the diverse, robotic data. In this paper, we present a model class, dubbed Robotics Transformer, that exhibits promising scalable model properties. We verify our conclusions in a study of different model classes and their ability to generalize as a function of the data size, model size, and data diversity based on a large-scale data collection on real robots performing real-world tasks. The project's website and videos can be found at robotics-transformer.github.io

The renewed interest from the scientific community in machine learning (ML) is opening many new areas of research. Here we focus on how novel trends in ML are providing opportunities to improve the field of computational fluid dynamics (CFD). In particular, we discuss synergies between ML and CFD that have already shown benefits, and we also assess areas that are under development and may produce important benefits in the coming years. We believe that it is also important to emphasize a balanced perspective of cautious optimism for these emerging approaches

Weakly supervised detection of anomalies in surveillance videos is a challenging task. Going beyond existing works that have deficient capabilities to localize anomalies in long videos, we propose a novel glance and focus network to effectively integrate spatial-temporal information for accurate anomaly detection. In addition, we empirically found that existing approaches that use feature magnitudes to represent the degree of anomalies typically ignore the effects of scene variations, and hence result in sub-optimal performance due to the inconsistency of feature magnitudes across scenes. To address this issue, we propose the Feature Amplification Mechanism and a Magnitude Contrastive Loss to enhance the discriminativeness of feature magnitudes for detecting anomalies. Experimental results on two large-scale benchmarks UCF-Crime and XD-Violence manifest that our method outperforms state-of-the-art approaches.

The theory of magnitude provides a mathematical framework for quantifying and maximizing diversity. We apply this framework to formulate quality-diversity algorithms in generic dissimilarity spaces. In particular, we instantiate and demonstrate a very general version of Go-Explore with promising performance.

Physically based rendering of complex scenes can be prohibitively costly with a potentially unbounded and uneven distribution of complexity across the rendered image. The goal of an ideal level of detail (LoD) method is to make rendering costs independent of the 3D scene complexity, while preserving the appearance of the scene. However, current prefiltering LoD methods are limited in the appearances they can support due to their reliance of approximate models and other heuristics. We propose the first comprehensive multi-scale LoD framework for prefiltering 3D environments with complex geometry and materials (e.g., the Disney BRDF), while maintaining the appearance with respect to the ray-traced reference. Using a multi-scale hierarchy of the scene, we perform a data-driven prefiltering step to obtain an appearance phase function and directional coverage mask at each scale. At the heart of our approach is a novel neural representation that encodes this information into a compact latent form that is easy to decode inside a physically based renderer. Once a scene is baked out, our method requires no original geometry, materials, or textures at render time. We demonstrate that our approach compares favorably to state-of-the-art prefiltering methods and achieves considerable savings in memory for complex scenes.

Video super-resolution is one of the most popular tasks on mobile devices, being widely used for an automatic improvement of low-bitrate and low-resolution video streams. While numerous solutions have been proposed for this problem, they are usually quite computationally demanding, demonstrating low FPS rates and power efficiency on mobile devices. In this Mobile AI challenge, we address this problem and propose the participants to design an end-to-end real-time video super-resolution solution for mobile NPUs optimized for low energy consumption. The participants were provided with the REDS training dataset containing video sequences for a 4X video upscaling task. The runtime and power efficiency of all models was evaluated on the powerful MediaTek Dimensity 9000 platform with a dedicated AI processing unit capable of accelerating floating-point and quantized neural networks. All proposed solutions are fully compatible with the above NPU, demonstrating an up to 500 FPS rate and 0.2 [Watt / 30 FPS] power consumption. A detailed description of all models developed in the challenge is provided in this paper.

Image super-resolution is a common task on mobile and IoT devices, where one often needs to upscale and enhance low-resolution images and video frames. While numerous solutions have been proposed for this problem in the past, they are usually not compatible with low-power mobile NPUs having many computational and memory constraints. In this Mobile AI challenge, we address this problem and propose the participants to design an efficient quantized image super-resolution solution that can demonstrate a real-time performance on mobile NPUs. The participants were provided with the DIV2K dataset and trained INT8 models to do a high-quality 3X image upscaling. The runtime of all models was evaluated on the Synaptics VS680 Smart Home board with a dedicated edge NPU capable of accelerating quantized neural networks. All proposed solutions are fully compatible with the above NPU, demonstrating an up to 60 FPS rate when reconstructing Full HD resolution images. A detailed description of all models developed in the challenge is provided in this paper.