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We present Unified-IO 2, the first autoregressive multimodal model that is capable of understanding and generating image, text, audio, and action. To unify different modalities, we tokenize inputs and outputs -- images, text, audio, action, bounding boxes, etc., into a shared semantic space and then process them with a single encoder-decoder transformer model. Since training with such diverse modalities is challenging, we propose various architectural improvements to stabilize model training. We train our model from scratch on a large multimodal pre-training corpus from diverse sources with a multimodal mixture of denoisers objective. To learn an expansive set of skills, such as following multimodal instructions, we construct and finetune on an ensemble of 120 datasets with prompts and augmentations. With a single unified model, Unified-IO 2 achieves state-of-the-art performance on the GRIT benchmark and strong results in more than 35 benchmarks, including image generation and understanding, natural language understanding, video and audio understanding, and robotic manipulation. We release all our models to the research community., Comment: 38 pages, 20 figures

Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC) system can significantly improve the lateral stability of a vehicle in environments with sudden changes in road conditions. In order to apply the DYC algorithm, it is very important to accurately consider the properties of tire forces with complex nonlinearity for control to ensure the lateral stability of the vehicle. In this study, longitudinal and lateral tire forces for safety path tracking were simultaneously estimated using a long short-term memory (LSTM) neural network based estimator. Furthermore, to improve path tracking performance in case of sudden changes in road conditions, a system has been developed by combining 4-wheel independent steering (4WIS) model predictive control (MPC) and 4-wheel independent drive (4WID) direct yaw-moment control (DYC). The estimation performance of the extended Kalman filter (EKF), which are commonly used for tire force estimation, was compared. In addition, the estimated longitudinal and lateral tire forces of each wheel were applied to the proposed system, and system verification was performed through simulation using a vehicle dynamics simulator. Consequently, the proposed method, the integrated path tracking algorithm with DYC and MPC using the LSTM based estimator, was validated to significantly improve the vehicle stability in suddenly changing road conditions.

The demand for the three-dimensional (3D) integration of electronic components is on a steady rise. The through-silicon-via (TSV) technique emerges as the only viable method for integrating single-crystalline device components in a 3D format, despite encountering significant processing challenges. While monolithic 3D (M3D) integration schemes show promise, the seamless connection of single-crystalline semiconductors without intervening wafers has yet to be demonstrated. This challenge arises from the inherent difficulty of growing single crystals on amorphous or polycrystalline surfaces post the back-end-of-the-line process at low temperatures to preserve the underlying circuitry. Consequently, a practical growth-based solution for M3D of single crystals remains elusive. Here, we present a method for growing single-crystalline channel materials, specifically composed of transition metal dichalcogenides, on amorphous and polycrystalline surfaces at temperatures lower than 400 {\deg}C. Building on this developed technique, we demonstrate the seamless monolithic integration of vertical single-crystalline logic transistor arrays. This accomplishment leads to the development of unprecedented vertical CMOS arrays, thereby constructing vertical inverters. Ultimately, this achievement sets the stage to pave the way for M3D integration of various electronic and optoelectronic hardware in the form of single crystals.

As short-form funny videos on social networks are gaining popularity, it becomes demanding for AI models to understand them for better communication with humans. Unfortunately, previous video humor datasets target specific domains, such as speeches or sitcoms, and mostly focus on verbal cues. We curate a user-generated dataset of 10K multimodal funny videos from YouTube, called ExFunTube. Using a video filtering pipeline with GPT-3.5, we verify both verbal and visual elements contributing to humor. After filtering, we annotate each video with timestamps and text explanations for funny moments. Our ExFunTube is unique over existing datasets in that our videos cover a wide range of domains with various types of humor that necessitate a multimodal understanding of the content. Also, we develop a zero-shot video-to-text prompting to maximize video humor understanding of large language models (LLMs). With three different evaluation methods using automatic scores, rationale quality experiments, and human evaluations, we show that our prompting significantly improves LLMs' ability for humor explanation., Comment: EMNLP 2023; references added

Controller Area Network (CAN) is an essential networking protocol that connects multiple electronic control units (ECUs) in a vehicle. However, CAN-based in-vehicle networks (IVNs) face security risks owing to the CAN mechanisms. An adversary can sabotage a vehicle by leveraging the security risks if they can access the CAN bus. Thus, recent actions and cybersecurity regulations (e.g., UNR 155) require carmakers to implement intrusion detection systems (IDSs) in their vehicles. The IDS should detect cyberattacks and provide additional information to analyze conducted attacks. Although many IDSs have been proposed, considerations regarding their feasibility and explainability remain lacking. This study proposes X-CANIDS, which is a novel IDS for CAN-based IVNs. X-CANIDS dissects the payloads in CAN messages into human-understandable signals using a CAN database. The signals improve the intrusion detection performance compared with the use of bit representations of raw payloads. These signals also enable an understanding of which signal or ECU is under attack. X-CANIDS can detect zero-day attacks because it does not require any labeled dataset in the training phase. We confirmed the feasibility of the proposed method through a benchmark test on an automotive-grade embedded device with a GPU. The results of this work will be valuable to carmakers and researchers considering the installation of in-vehicle IDSs for their vehicles., Comment: This is the Accepted version of an article for publication in IEEE TVT

Low-volume Denial-of-Service ({\mu}DoS) attacks have been demonstrated to fundamentally bypass traditional DoS mitigation schemes based on the flow and volume of network packets. In this paper, we propose a data-driven approach, called ROKI, that accurately tracks internal resource utilization and allocation associated with each packet (or session), making it possible to tame resource exhaustion caused by {\mu}DoS attacks. Since ROKI focuses on capturing the symptom of DoS, it can effectively mitigate previously unknown {\mu}DoS attacks. To enable a finer-grain resource tracking, ROKI provided in concept the accounting capabilities to each packet itself, so we called data-driven: it monitors resource utilization at the link, network, transport layers in the kernel, as well as application layers, and attributes back to the associated packet. Given the resource usages of each packet, ROKI can reclaim (or prevent) the system resources from malicious packets (or attackers) whenever it encounters system-wide resource exhaustion. To provide lightweight resource tracking, ROKI carefully multiplexes hardware performance counters whenever necessary. Our evaluation shows that ROKI's approach is indeed effective in mitigating real-world {\mu}DoS attacks with negligible performance overheads - incurring 3%-4% throughput and latency overheads on average when the system is throttled.

Freestanding single-crystalline membranes are an important building block for functional electronics. Especially, compounds semiconductor membranes such as III-N and III-V offer great opportunities for optoelectronics, high-power electronics, and high-speed computing. Despite huge efforts to produce such membranes by detaching epitaxial layers from donor wafers, however, it is still challenging to harvest epitaxial layers using practical processes. Here, we demonstrate a method to grow and harvest multiple epitaxial membranes with extremely high throughput at the wafer scale. For this, 2D materials are directly formed on III-N and III-V substrates in epitaxy systems, which enables an advanced remote epitaxy scheme comprised of multiple alternating layers of 2D materials and epitaxial layers that can be formed by a single epitaxy run. Each epilayer in the multi-stack structure is then harvested by layer-by-layer peeling, producing multiple freestanding membranes with unprecedented throughput from a single wafer. Because 2D materials allow peeling at the interface without damaging the epilayer or the substrate, wafers can be reused for subsequent membrane production. Therefore, this work represents a meaningful step toward high-throughput and low-cost production of single-crystal membranes that can be heterointegrated.

Self-supervised learning has drawn attention through its effectiveness in learning in-domain representations with no ground-truth annotations; in particular, it is shown that properly designed pretext tasks (e.g., contrastive prediction task) bring significant performance gains for downstream tasks (e.g., classification task). Inspired from this, we tackle video scene segmentation, which is a task of temporally localizing scene boundaries in a video, with a self-supervised learning framework where we mainly focus on designing effective pretext tasks. In our framework, we discover a pseudo-boundary from a sequence of shots by splitting it into two continuous, non-overlapping sub-sequences and leverage the pseudo-boundary to facilitate the pre-training. Based on this, we introduce three novel boundary-aware pretext tasks: 1) Shot-Scene Matching (SSM), 2) Contextual Group Matching (CGM) and 3) Pseudo-boundary Prediction (PP); SSM and CGM guide the model to maximize intra-scene similarity and inter-scene discrimination while PP encourages the model to identify transitional moments. Through comprehensive analysis, we empirically show that pre-training and transferring contextual representation are both critical to improving the video scene segmentation performance. Lastly, we achieve the new state-of-the-art on the MovieNet-SSeg benchmark. The code is available at https://github.com/kakaobrain/bassl., Comment: The code is available at https://github.com/kakaobrain/bassl

We present neural activation coding (NAC) as a novel approach for learning deep representations from unlabeled data for downstream applications. We argue that the deep encoder should maximize its nonlinear expressivity on the data for downstream predictors to take full advantage of its representation power. To this end, NAC maximizes the mutual information between activation patterns of the encoder and the data over a noisy communication channel. We show that learning for a noise-robust activation code increases the number of distinct linear regions of ReLU encoders, hence the maximum nonlinear expressivity. More interestingly, NAC learns both continuous and discrete representations of data, which we respectively evaluate on two downstream tasks: (i) linear classification on CIFAR-10 and ImageNet-1K and (ii) nearest neighbor retrieval on CIFAR-10 and FLICKR-25K. Empirical results show that NAC attains better or comparable performance on both tasks over recent baselines including SimCLR and DistillHash. In addition, NAC pretraining provides significant benefits to the training of deep generative models. Our code is available at https://github.com/yookoon/nac., Comment: Published in International Conference on Machine Learning (ICML), 2021

The natural association between visual observations and their corresponding sound provides powerful self-supervisory signals for learning video representations, which makes the ever-growing amount of online videos an attractive source of training data. However, large portions of online videos contain irrelevant audio-visual signals because of edited/overdubbed audio, and models trained on such uncurated videos have shown to learn suboptimal representations. Therefore, existing approaches rely almost exclusively on datasets with predetermined taxonomies of semantic concepts, where there is a high chance of audio-visual correspondence. Unfortunately, constructing such datasets require labor intensive manual annotation and/or verification, which severely limits the utility of online videos for large-scale learning. In this work, we present an automatic dataset curation approach based on subset optimization where the objective is to maximize the mutual information between audio and visual channels in videos. We demonstrate that our approach finds videos with high audio-visual correspondence and show that self-supervised models trained on our data achieve competitive performances compared to models trained on existing manually curated datasets. The most significant benefit of our approach is scalability: We release ACAV100M that contains 100 million videos with high audio-visual correspondence, ideal for self-supervised video representation learning., Comment: Published to ICCV2021

The recent success of Transformers in the language domain has motivated adapting it to a multimodal setting, where a new visual model is trained in tandem with an already pretrained language model. However, due to the excessive memory requirements from Transformers, existing work typically fixes the language model and train only the vision module, which limits its ability to learn cross-modal information in an end-to-end manner. In this work, we focus on reducing the parameters of multimodal Transformers in the context of audio-visual video representation learning. We alleviate the high memory requirement by sharing the parameters of Transformers across layers and modalities; we decompose the Transformer into modality-specific and modality-shared parts so that the model learns the dynamics of each modality both individually and together, and propose a novel parameter sharing scheme based on low-rank approximation. We show that our approach reduces parameters of the Transformers up to 97$\%$, allowing us to train our model end-to-end from scratch. We also propose a negative sampling approach based on an instance similarity measured on the CNN embedding space that our model learns together with the Transformers. To demonstrate our approach, we pretrain our model on 30-second clips (480 frames) from Kinetics-700 and transfer it to audio-visual classification tasks., Comment: Accepted to ICLR 2021

Federated learning (FL), which utilizes communication between the server (core) and local devices (edges) to indirectly learn from more data, is an emerging field in deep learning research. Recently, Knowledge Distillation-based FL methods with notable performance and high applicability have been suggested. In this paper, we choose knowledge distillation-based FL method as our baseline and tackle a challenging problem that ensues from using these methods. Especially, we focus on the problem incurred in the server model that tries to mimic different datasets, each of which is unique to an individual edge device. We dub the problem 'edge bias', which occurs when multiple teacher models trained on different datasets are used individually to distill knowledge. We introduce this nuisance that occurs in certain scenarios of FL, and to alleviate it, we propose a simple yet effective distillation scheme named 'buffered distillation'. In addition, we also experimentally show that this scheme is effective in mitigating the straggler problem caused by delayed edges., Comment: 10 pages