Han Hao

Jiale Li, Hang Dai, Hao Han et al.

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while the robust multi-modal solution is under-explored, where we investigate three crucial inherent difficulties: modality heterogeneity, limited sensor field of view intersection, and multi-modal data augmentation. We propose a multi-modal 3D semantic segmentation model (MSeg3D) with joint intra-modal feature extraction and inter-modal feature fusion to mitigate the modality heterogeneity. The multi-modal fusion in MSeg3D consists of geometry-based feature fusion GF-Phase, cross-modal feature completion, and semantic-based feature fusion SF-Phase on all visible points. The multi-modal data augmentation is reinvigorated by applying asymmetric transformations on LiDAR point cloud and multi-camera images individually, which benefits the model training with diversified augmentation transformations. MSeg3D achieves state-of-the-art results on nuScenes, Waymo, and SemanticKITTI datasets. Under the malfunctioning multi-camera input and the multi-frame point clouds input, MSeg3D still shows robustness and improves the LiDAR-only baseline. Our code is publicly available at \url{https://github.com/jialeli1/lidarseg3d}.

Ryan Burnell, Han Hao, Andrew R. A. Conway et al.

Building a theoretical understanding of the capabilities of large language models (LLMs) is vital for our ability to predict and explain the behavior of these systems. Here, we investigate the structure of LLM capabilities by extracting latent capabilities from patterns of individual differences across a varied population of LLMs. Using a combination of Bayesian and frequentist factor analysis, we analyzed data from 29 different LLMs across 27 cognitive tasks. We found evidence that LLM capabilities are not monolithic. Instead, they are better explained by three well-delineated factors that represent reasoning, comprehension and core language modeling. Moreover, we found that these three factors can explain a high proportion of the variance in model performance. These results reveal a consistent structure in the capabilities of different LLMs and demonstrate the multifaceted nature of these capabilities. We also found that the three abilities show different relationships to model properties such as model size and instruction tuning. These patterns help refine our understanding of scaling laws and indicate that changes to a model that improve one ability might simultaneously impair others. Based on these findings, we suggest that benchmarks could be streamlined by focusing on tasks that tap into each broad model ability.

Lizhi Sun, Shuocheng Wang, Hao Wu et al.

ARM TrustZone is widely deployed on commercial-off-the-shelf mobile devices for secure execution. However, many Apps cannot enjoy this feature because it brings many constraints to App developers. Previous works have been proposed to build a secure execution environment for developers on top of TrustZone. Unfortunately, these works are still not fully-fledged solutions for mobile Apps, especially for emerging intelligent Apps. To this end, we propose LEAP, which is a lightweight developer-friendly TEE solution for mobile Apps. LEAP enables isolated codes to execute in parallel and access peripheral (e.g., mobile GPUs) with ease, flexibly manages system resources upon different workloads, and offers the auto DevOps tool to help developers prepare the codes running on it. We implement the LEAP prototype on the off-the-shelf ARM platform and conduct extensive experiments on it. The experimental results show that Apps can be adapted to run with LEAP easily and efficiently. Compared to the state-of-the-art work along this research line, LEAP can achieve an average 3.57x speedup in supporting intelligent Apps using mobile GPU acceleration.