PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features

Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed motions and in high dynamic range scenarios. However, event cameras output only a little information or even noise when the relative motion between the camera and the scene is limited, such as in a still state. While standard cameras can provide rich perception information in most scenarios, especially in good lighting conditions. These two cameras are exactly complementary. In this paper, we proposed a robust, high-accurate, and real-time optimization-based monocular event-based visual-inertial odometry (VIO) method with event-corner features, line-based event features, and point-based image features. The proposed method offers to leverage the point-based features in the nature scene and line-based features in the human-made scene to provide more additional structure or constraints information through well-design feature management. Experiments in the public benchmark datasets show that our method can achieve superior performance compared with the state-of-the-art image-based or event-based VIO. Finally, we used our method to demonstrate an onboard closed-loop autonomous quadrotor flight and large-scale outdoor experiments. Videos of the evaluations are presented on our project website: https://b23.tv/OE3QM6

No Provisioned Concurrency: Fast RDMA-codesigned Remote Fork for Serverless Computing

Serverless platforms essentially face a tradeoff between container startup time and provisioned concurrency (i.e., cached instances), which is further exaggerated by the frequent need for remote container initialization. This paper presents MITOSIS, an operating system primitive that provides fast remote fork, which exploits a deep codesign of the OS kernel with RDMA. By leveraging the fast remote read capability of RDMA and partial state transfer across serverless containers, MITOSIS bridges the performance gap between local and remote container initialization. MITOSIS is the first to fork over 10,000 new containers from one instance across multiple machines within a second, while allowing the new containers to efficiently transfer the pre-materialized states of the forked one. We have implemented MITOSIS on Linux and integrated it with FN, a popular serverless platform. Under load spikes in real-world serverless workloads, MITOSIS reduces the function tail latency by 89% with orders of magnitude lower memory usage. For serverless workflow that requires state transfer, MITOSIS improves its execution time by 86%.Comment: To appear in OSDI'2

Holistic resource allocation for multicore real-time systems

This paper presents CaM, a holistic cache and memory bandwidth resource allocation strategy for multicore real-time systems. CaM is designed for partitioned scheduling, where tasks are mapped onto cores, and the shared cache and memory bandwidth resources are partitioned among cores to reduce resource interferences due to concurrent accesses. Based on our extension of LITMUSRT with Intel’s Cache Allocation Technology and MemGuard, we present an experimental evaluation of the relationship between the allocation of cache and memory bandwidth resources and a task’s WCET. Our resource allocation strategy exploits this relationship to map tasks onto cores, and to compute the resource allocation for each core. By grouping tasks with similar characteristics (in terms of resource demands) to the same core, it enables tasks on each core to fully utilize the assigned resources. In addition, based on the tasks’ execution time behaviors with respect to their assigned resources, we can determine a desirable allocation that maximizes schedulability under resource constraints. Extensive evaluations using real-world benchmarks show that CaM offers near optimal schedulability performance while being highly efficient, and that it substantially outperforms existing solutions

Feedback Effect in User Interaction with Intelligent Assistants: Delayed Engagement, Adaption and Drop-out

With the growing popularity of intelligent assistants (IAs), evaluating IA quality becomes an increasingly active field of research. This paper identifies and quantifies the feedback effect, a novel component in IA-user interactions: how the capabilities and limitations of the IA influence user behavior over time. First, we demonstrate that unhelpful responses from the IA cause users to delay or reduce subsequent interactions in the short term via an observational study. Next, we expand the time horizon to examine behavior changes and show that as users discover the limitations of the IA's understanding and functional capabilities, they learn to adjust the scope and wording of their requests to increase the likelihood of receiving a helpful response from the IA. Our findings highlight the impact of the feedback effect at both the micro and meso levels. We further discuss its macro-level consequences: unsatisfactory interactions continuously reduce the likelihood and diversity of future user engagements in a feedback loop.Comment: PAKDD 202

Zwicky Transient Facility constraints on the optical emission from the nearby repeating FRB 180916.J0158+65

The discovery rate of fast radio bursts (FRBs) is increasing dramatically thanks to new radio facilities. Meanwhile, wide-field instruments such as the 47 deg$^2$ Zwicky Transient Facility (ZTF) survey the optical sky to study transient and variable sources. We present serendipitous ZTF observations of the CHIME repeating source FRB 180916.J0158+65, that was localized to a spiral galaxy 149 Mpc away and is the first FRB suggesting periodic modulation in its activity. While 147 ZTF exposures corresponded to expected high-activity periods of this FRB, no single ZTF exposure was at the same time as a CHIME detection. No $>3\sigma$ optical source was found at the FRB location in 683 ZTF exposures, totalling 5.69 hours of integration time. We combined ZTF upper limits and expected repetitions from FRB 180916.J0158+65 in a statistical framework using a Weibull distribution, agnostic of periodic modulation priors. The analysis yielded a constraint on the ratio between the optical and radio fluences of $\eta \lesssim 200$, corresponding to an optical energy $E_{\rm opt} \lesssim 3 \times 10^{46}$ erg for a fiducial 10 Jy ms FRB (90% confidence). A deeper (but less statistically robust) constraint of $\eta \lesssim 3$ can be placed assuming a rate of $r(>5$ Jy ms)= hr$^{-1}$ and $1.2\pm 1.1$ FRB occurring during exposures taken in high-activity windows. The constraint can be improved with shorter per-image exposures and longer integration time, or observing FRBs at higher Galactic latitudes. This work demonstrated how current surveys can statistically constrain multi-wavelength counterparts to FRBs even without deliberately scheduled simultaneous radio observation.Comment: Accepted for publication in ApJL, 9 pages, 4 figures, 1 tabl

CipherGPT: Secure Two-Party GPT Inference

ChatGPT is recognized as a significant revolution in the field of artificial intelligence, but it raises serious concerns regarding user privacy, as the data submitted by users may contain sensitive information. Existing solutions for secure inference face significant challenges in supporting GPT-like models due to the enormous number of model parameters and complex activation functions. In this paper, we develop CipherGPT, the $\mathit{first}$ framework for secure two-party GPT inference, building upon a series of innovative protocols. First, we propose a secure matrix multiplication that is customized for GPT inference, achieving upto 2.5$\times$ speedup and 11.2$\times$ bandwidth reduction over SOTA. We also propose a novel protocol for securely computing GELU, surpassing SOTA by 4.2$\times$ in runtime, 3.4$\times$ in communication and 10.9$\times$ in precision. Furthermore, we come up with the first protocol for top-k sampling. We provide a full-fledged implementation and comprehensive benchmark for CipherGPT. In particular, we measure the runtime and communication for each individual operation, along with their corresponding proportions. We believe this can serve as a reference for future research in this area

Characteristics and properties of a polysaccharide isolated from Wolfiporia cocos as potential dietary supplement for IBS

IntroductionAs low FODMAP (Fermentable oligosaccharides, disaccharides, monosaccharides and polyols) diet therapy is recommended for most of Irritable Bowel Syndrome (IBS) patients, the consequent insufficient of dietary fibers (DFs) intake exert an adverse impact on intestinal health. It is necessary to find suitable DFs for IBS patients.MethodsThis study extracted a water-insoluble polysaccharide from Wolfiporia cocos (WIP) by alkali-extraction and acid-precipitation method. Its molecular weight was detected by high performance gel permeation chromatography (HPGPC) analysis. The structure of WIP was analyzed by Fourier transform infrared (FT-IR) spectrum, Nuclear Magnetic Resonance (NMR) spectra and X-ray diffraction (XRD). The properties related to stability, digestion, viscosity, osmotic activity, adsorption and fermentation were investigated, aimed to explore the feasibility of WIP as a new DF supplement for patients with IBS. In addition, 16S rRNA sequencing analysis was conducted to explore its effects on IBS-related gut microbiota.Results and DiscussionThe results showed that WIP had a single homogeneous composition and the molecular weight was 8.1 × 103 Da. WIP was indicated as a kind of pyranose form with β anomeric configuration and the main chain of WIP was 1,3-β-glucan with amorphous structure. In addition to good thermal stability, WIP also has low bioavailability and can reach the colon mostly without being digested. Moreover, the low viscosity and osmotic activity, the high water- swelling and water/oil-holding capacity, fructose adsorption capacity and poor fermentation performance of WIP demonstrated that it is suitable for IBS patients. It is worth noting that WIP regulates IBS associated gut microbiota effectively, such as the abundance of Lachnospiraceae and Prevotella. These findings provide a theoretical basis for the development of WIP as a dietary supplement for IBS patients with low FODMAP diet therapy.GRAPHICAL ABSTRAC

Structural effects of inosine substitution in telomeric DNA quadruplex

The telomeric DNA, a distal region of eukaryotic chromosome containing guanine-rich repetitive sequence of (TTAGGG)n, has been shown to adopt higher-order structures, specifically G-quadruplexes (G4s). Previous studies have demonstrated the implication of G4 in tumor inhibition through chromosome maintenance and manipulation of oncogene expression featuring their G-rich promoter regions. Besides higher order structures, several regulatory roles are attributed to DNA epigenetic markers. In this work, we investigated how the structural dynamics of a G-quadruplex, formed by the telomeric sequence, is affected by inosine, a prevalent modified nucleotide. We used the standard (TTAGGG)n telomere repeats with guanosine mutated to inosine at each G position. Sequences (GGG)4, (IGG)4, (GIG)4, (GGI)4, (IGI)4, (IIG)4, (GII)4, and (III)4, bridged by TTA linker, are studied using biophysical experiments and molecular modeling. The effects of metal cations in quadruplex folding were explored in both Na+ and K+ containing buffers using CD and UV-melting studies. Our results show that antiparallel quadruplex topology forms with the native sequence (GGG)4 and the terminal modified DNAs (IGG)4 and (GGI)4 in both Na+ and K+ containing buffers. Specifically, quadruplex hybrid was observed for (GGG)4 in K+ buffer. Among the other modified sequences, (GIG)4, (IGI)4 and (GII)4 show parallel features, while (IIG)4 and (III)4 show no detectable conformation in the presence of either Na+ or K+. Our studies indicate that terminal lesions (IGG)4 and (GGI)4 may induce certain unknown conformations. The folding dynamics become undetectable in the presence of more than one inosine substitution except (IGI)4 in both buffer ions. In addition, both UV melting and CD melting studies implied that in most cases the K+ cation confers more thermodynamic stability compared to Na+. Collectively, our conformational studies revealed the diverse structural polymorphisms of G4 with position dependent G-to-I mutations in different ion conditions