arXiv subjects

Kai Lu

Publications and source records attributed to Kai Lu.

49 records · Page 3Linked to original sources

arXiv2023

Deep Reinforcement Learning for Robotic Pushing and Picking in Cluttered Environment

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup is used for lifting the object from the clutter first and the gripper for grasping the object accordingly. We utilize the affordance map to provide pixel-wise lifting point candidates for the suction cup. To obtain a good affordance map, the active exploration mechanism is introduced to the system. An effective metric is designed to calculate the reward for the current affordance map, and a deep Q-Network (DQN) is employed to guide the robotic hand to actively explore the environment until the generated affordance map is suitable for grasping. Experimental results have demonstrated that the proposed robotic grasping system is able to greatly increase the success rate of the robotic grasping in cluttered scenes.

cs.RO↗

arXiv2022

UltraFuzz: Towards Resource-saving in Distributed Fuzzing

Recent research has sought to improve fuzzing performance via parallel computing. However, researchers focus on improving efficiency while ignoring the increasing cost of testing resources. Parallel fuzzing in the distributed environment amplifies the resource-wasting problem caused by the random nature of fuzzing. In the parallel mode, owing to the lack of an appropriate task dispatching scheme and timely fuzzing status synchronization among different fuzzing instances, task conflicts and workload imbalance occur, making the resource-wasting problem severe. In this paper, we design UltraFuzz, a fuzzer for resource-saving in distributed fuzzing. Based on centralized dynamic scheduling, UltraFuzz can dispatch tasks and schedule power globally and reasonably to avoid resource-wasting. Besides, UltraFuzz can elastically allocate computing power for fuzzing and seed evaluation, thereby avoiding the potential bottleneck of seed evaluation that blocks the fuzzing process. UltraFuzz was evaluated using real-world programs, and the results show that with the same testing resource, UltraFuzz outperforms state-of-the-art tools, such as AFL, AFL-P, PAFL, and EnFuzz. Most importantly, the experiment reveals certain results that seem counter-intuitive, namely that parallel fuzzing can achieve ``super-linear acceleration'' when compared with single-core fuzzing. We conduct additional experiments to reveal the deep reasons behind this phenomenon and dig deep into the inherent advantages of parallel fuzzing over serial fuzzing, including the global optimization of seed energy scheduling and the escape of local optimal seed. Additionally, 24 real-world vulnerabilities were discovered using UltraFuzz.

cs.CR↗

arXiv2022

Programming Bare-Metal Accelerators with Heterogeneous Threading Models: A Case Study of Matrix-3000

As the hardware industry moves towards using specialized heterogeneous many-cores to avoid the effects of the power wall, software developers are finding it hard to deal with the complexity of these systems. This article shares our experience when developing a programming model and its supporting compiler and libraries for Matrix-3000, which is designed for next-generation exascale supercomputers but has a complex memory hierarchy and processor organization. To assist its software development, we developed a software stack from scratch that includes a low-level programming interface and a high-level OpenCL compiler. Our low-level programming model offers native programming support for using the bare-metal accelerators of Matrix-3000, while the high-level model allows programmers to use the OpenCL programming standard. We detail our design choices and highlight the lessons learned from developing systems software to enable the programming of bare-metal accelerators. Our programming models have been deployed to the production environment of an exascale prototype system.

cs.PL↗

arXiv2022

Large-scale full-programmable quantum walk and its applications

With photonics, the quantum computational advantage has been demonstrated on the task of boson sampling. Next, developing quantum-enhanced approaches for practical problems becomes one of the top priorities for photonic systems. Quantum walks are powerful kernels for developing new and useful quantum algorithms. Here we realize large-scale quantum walks using a fully programmable photonic quantum computing system. The system integrates a silicon quantum photonic chip, enabling the simulation of quantum walk dynamics on graphs with up to 400 vertices and possessing full programmability over quantum walk parameters, including the particle property, initial state, graph structure, and evolution time. In the 400-dimensional Hilbert space, the average fidelity of random entangled quantum states after the whole on-chip circuit evolution reaches as high as 94.29$\pm$1.28$\%$. With the system, we demonstrated exponentially faster hitting and quadratically faster mixing performance of quantum walks over classical random walks, achieving more than two orders of magnitude of enhancement in the experimental hitting efficiency and almost half of the reduction in the experimental evolution time for mixing. We utilize the system to implement a series of quantum applications, including measuring the centrality of scale-free networks, searching targets on Erdös-Rényi networks, distinguishing non-isomorphic graph pairs, and simulating the topological phase of higher-order topological insulators. Our work shows one feasible path for quantum photonics to address applications of practical interests in the near future.

quant-ph↗

arXiv2022

Hadro-chemistry effects on charm decayed leptons in heavy-ion collisions

Charm-hadrons possess versatile hadro-chemistry as characterized by various transverse-momentum-dependent ratios between their different species. In particular, the charm hadro-chemistry may be modified in relativistic heavy-ion collisions with respect to proton-proton collisions at the same energy, as caused by novel diffusion and hadronization mechanisms of charm quarks in the environment of the created quark-gluon plasma (QGP) in the former. Inspired by recent measurements of leptons from charm-hadron decays (separated from bottom decays) in Pb-Pb and Au-Au collisions, we investigate the effects of the charm hadro-chemistry on the leptonic observables. We find that full consideration of charm hadro-chemistry in both proton-proton and heavy-ion collisions causes only mild change of charm-leptons' suppression factor with respect to previous calculations hadronizing charm quarks into $D$ mesons only, whereas the resulting change (increase) in the charm-leptons' elliptic flow turns out to be more pronounced as a consequence of the larger collectivity of $Λ_c$ baryons than $D$ mesons.

nucl-th↗

arXiv2022

Design and control analysis of a deployable clustered hyperbolic paraboloid cable net

This paper presents an analytical and experimental design and deployment control analysis of a hyperbolic paraboloid cable net based on clustering actuation strategies. First, the dynamics and statics for clustered tensegrity structures (CTS) are given. Then, we propose the topology design of the deployable hyperbolic paraboloid cable net. The deployability of the cable net is achieved by using clustered cables. It is shown that the clustered cables significantly reduce the number of actuators required for control. The deployment trajectory and actuation prestress in the cables are designed to ensure the tensions are feasible during the deployment process. Then, we compare the deployment analysis's open-loop and closed-loop control strategies. Finally, a lab-scale model is constructed to validate the actuation laws. We test the static performance and deployment process of the experimental model. Results show that the closed-loop control approach is more stable and smoother than the open-loop one in the deployment process. The approaches developed in this paper can also be used for various deployable tensegrity structures.

eess.SY↗

arXiv2022

Tree-based Search Graph for Approximate Nearest Neighbor Search

Nearest neighbor search supports important applications in many domains, such as database, machine learning, computer vision. Since the computational cost for accurate search is too high, the community turned to the research of approximate nearest neighbor search (ANNS). Among them, graph-based algorithm is one of the most important branches. Research by Fu et al. shows that the algorithms based on Monotonic Search Network (MSNET), such as NSG and NSSG, have achieved the state-of-the-art search performance in efficiency. The MSNET is dedicated to achieving monotonic search with minimal out-degree of nodes to pursue high efficiency. However, the current MSNET designs did not optimize the probability of the monotonic search, and the lower bound of the probability is only 50%. If they fail in monotonic search stage, they have to suffer tremendous backtracking cost to achieve the required accuracy. This will cause performance problems in search efficiency. To address this problem, we propose (r,p)-MSNET, which achieves guaranteed probability on monotonic search. Due to the high building complexity of a strict (r,p)-MSNET, we propose TBSG, which is an approximation with low complexity. Experiment conducted on four million-scaled datasets show that TBSG outperforms existing state-of-the-art graph-based algorithms in search efficiency. Our code has been released on Github.

cs.IR↗

arXiv2021

CoG: a Two-View Co-training Framework for Defending Adversarial Attacks on Graph

Graph neural networks exhibit remarkable performance in graph data analysis. However, the robustness of GNN models remains a challenge. As a result, they are not reliable enough to be deployed in critical applications. Recent studies demonstrate that GNNs could be easily fooled with adversarial perturbations, especially structural perturbations. Such vulnerability is attributed to the excessive dependence on the structure information to make predictions. To achieve better robustness, it is desirable to build the prediction of GNNs with more comprehensive features. Graph data, in most cases, has two views of information, namely structure information and feature information. In this paper, we propose CoG, a simple yet effective co-training framework to combine these two views for the purpose of robustness. CoG trains sub-models from the feature view and the structure view independently and allows them to distill knowledge from each other by adding their most confident unlabeled data into the training set. The orthogonality of these two views diversifies the sub-models, thus enhancing the robustness of their ensemble. We evaluate our framework on three popular datasets, and results show that CoG significantly improves the robustness of graph models against adversarial attacks without sacrificing their performance on clean data. We also show that CoG still achieves good robustness when both node features and graph structures are perturbed.

cs.LG↗

arXiv2019

Lightweight Container-based User Environment

Modern operating systems all support multi-users that users could share a computer simultaneously and not affect each other. However, there are some limitations. For example, privacy problem exists that users are visible to each other in terms of running processes and files. Moreover, users have little freedom to customize the system environment. Last, it is a burden for system administrator to safely manage and update system environment while satisfying multiple users. Facing the above problems, this paper proposes CUE, a Lightweight Container-based User Environment. CUE proposes a new notion that stands in between application container and operating system container:user container. CUE is able to give users more flexibility to customize their environment, achieve privacy isolation, and make system update easier and safer. Its goal is to optimize and enhance the multi-user notion of current operating system and being lightweight. Moreover, it is able to facilitate application deployment in high performance clusters. It is currently deployed in NUDT's Tianhe E prototype supercomputer. Experiment results show that it introduces negligible overhead.

cs.DC↗

arXiv2019

Adversarial Examples on Graph Data: Deep Insights into Attack and Defense

Graph deep learning models, such as graph convolutional networks (GCN) achieve remarkable performance for tasks on graph data. Similar to other types of deep models, graph deep learning models often suffer from adversarial attacks. However, compared with non-graph data, the discrete features, graph connections and different definitions of imperceptible perturbations bring unique challenges and opportunities for the adversarial attacks and defenses for graph data. In this paper, we propose both attack and defense techniques. For attack, we show that the discreteness problem could easily be resolved by introducing integrated gradients which could accurately reflect the effect of perturbing certain features or edges while still benefiting from the parallel computations. For defense, we observe that the adversarially manipulated graph for the targeted attack differs from normal graphs statistically. Based on this observation, we propose a defense approach which inspects the graph and recovers the potential adversarial perturbations. Our experiments on a number of datasets show the effectiveness of the proposed methods.

cs.LG↗

arXiv2019

Interpretable Classification from Skin Cancer Histology Slides Using Deep Learning: A Retrospective Multicenter Study

For diagnosing melanoma, hematoxylin and eosin (H&E) stained tissue slides remains the gold standard. These images contain quantitative information in different magnifications. In the present study, we investigated whether deep convolutional neural networks can extract structural features of complex tissues directly from these massive size images in a patched way. In order to face the challenge arise from morphological diversity in histopathological slides, we built a multicenter database of 2241 digital whole-slide images from 1321 patients from 2008 to 2018. We trained both ResNet50 and Vgg19 using over 9.95 million patches by transferring learning, and test performance with two kinds of critical classifications: malignant melanomas versus benign nevi in separate and mixed magnification; and distinguish among nevi in maximum magnification. The CNNs achieves superior performance across both tasks, demonstrating an AI capable of classifying skin cancer in the analysis from histopathological images. For making the classifications reasonable, the visualization of CNN representations is furthermore used to identify cells between melanoma and nevi. Regions of interest (ROI) are also located which are significantly helpful, giving pathologists more support of correctly diagnosis.

q-bio.TO↗

arXiv2017

Interpreting Shared Deep Learning Models via Explicable Boundary Trees

Despite outperforming the human in many tasks, deep neural network models are also criticized for the lack of transparency and interpretability in decision making. The opaqueness results in uncertainty and low confidence when deploying such a model in model sharing scenarios, when the model is developed by a third party. For a supervised machine learning model, sharing training process including training data provides an effective way to gain trust and to better understand model predictions. However, it is not always possible to share all training data due to privacy and policy constraints. In this paper, we propose a method to disclose a small set of training data that is just sufficient for users to get the insight of a complicated model. The method constructs a boundary tree using selected training data and the tree is able to approximate the complicated model with high fidelity. We show that traversing data points in the tree gives users significantly better understanding of the model and paves the way for trustworthy model sharing.

cs.LG↗

arXiv2017

HPDedup: A Hybrid Prioritized Data Deduplication Mechanism for Primary Storage in the Cloud

Eliminating duplicate data in primary storage of clouds increases the cost-efficiency of cloud service providers as well as reduces the cost of users for using cloud services. Existing primary deduplication techniques either use inline caching to exploit locality in primary workloads or use post-processing deduplication running in system idle time to avoid the negative impact on I/O performance. However, neither of them works well in the cloud servers running multiple services or applications for the following two reasons: Firstly, the temporal locality of duplicate data writes may not exist in some primary storage workloads thus inline caching often fails to achieve good deduplication ratio. Secondly, the post-processing deduplication allows duplicate data to be written into disks, therefore does not provide the benefit of I/O deduplication and requires high peak storage capacity. This paper presents HPDedup, a Hybrid Prioritized data Deduplication mechanism to deal with the storage system shared by applications running in co-located virtual machines or containers by fusing an inline and a post-processing process for exact deduplication. In the inline deduplication phase, HPDedup gives a fingerprint caching mechanism that estimates the temporal locality of duplicates in data streams from different VMs or applications and prioritizes the cache allocation for these streams based on the estimation. HPDedup also allows different deduplication threshold for streams based on their spatial locality to reduce the disk fragmentation. The post-processing phase removes duplicates whose fingerprints are not able to be cached due to the weak temporal locality from disks. Our experimental results show that HPDedup clearly outperforms the state-of-the-art primary storage deduplication techniques in terms of inline cache efficiency and primary deduplication efficiency.

cs.DC↗