With the development of hardware accelerators and their corresponding tools, evaluations have become more affordable through fast and massively parallel evaluations in some applications. This advancement has drastically sped up the runtime of evolution-inspired algorithms such as Quality-Diversity optimization, creating tremendous potential for algorithmic innovation through scale. In this work, we propose MAP-Elites-Multi-ES (MEMES), a novel QD algorithm based on Evolution Strategies (ES) designed for fast parallel evaluations. ME-Multi-ES builds on top of the existing MAP-Elites-ES algorithm, scaling it by maintaining multiple independent ES threads with massive parallelization. We also introduce a new dynamic reset procedure for the lifespan of the independent ES to autonomously maximize the improvement of the QD population. We show experimentally that MEMES outperforms existing gradient-based and objective-agnostic QD algorithms when compared in terms of generations. We perform this comparison on both black-box optimization and QD-Reinforcement Learning tasks, demonstrating the benefit of our approach across different problems and domains. Finally, we also find that our approach intrinsically enables optimization of fitness locally around a niche, a phenomenon not observed in other QD algorithms.
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Previous results have shown that a two time-scale update rule (TTUR) using different learning rates, such as different constant rates or different decaying rates, is useful for training generative adversarial networks (GANs) in theory and in practice. Moreover, not only the learning rate but also the batch size is important for training GANs with TTURs and they both affect the number of steps needed for training. This paper studies the relationship between batch size and the number of steps needed for training GANs with TTURs based on constant learning rates. We theoretically show that, for a TTUR with constant learning rates, the number of steps needed to find stationary points of the loss functions of both the discriminator and generator decreases as the batch size increases and that there exists a critical batch size minimizing the stochastic first-order oracle (SFO) complexity. Then, we use the Fr'echet inception distance (FID) as the performance measure for training and provide numerical results indicating that the number of steps needed to achieve a low FID score decreases as the batch size increases and that the SFO complexity increases once the batch size exceeds the measured critical batch size. Moreover, we show that measured critical batch sizes are close to the sizes estimated from our theoretical results.
Monitoring software systems at runtime is key for understanding workloads, debugging, and self-adaptation. It typically involves collecting and storing observable software data, which can be analyzed online or offline. Despite the usefulness of collecting system data, it may significantly impact the system execution by delaying response times and competing with system resources. The typical approach to cope with this is to filter portions of the system to be monitored and to sample data. Although these approaches are a step towards achieving a desired trade-off between the amount of collected information and the impact on the system performance, they focus on collecting data of a particular type or may capture a sample that does not correspond to the actual system behavior. In response, we propose an adaptive runtime monitoring process to dynamically adapt the sampling rate while monitoring software systems. It includes algorithms with statistical foundations to improve the representativeness of collected samples without compromising the system performance. Our evaluation targets five applications of a widely used benchmark. It shows that the error (RMSE) of the samples collected with our approach is 9-54% lower than the main alternative strategy (sampling rate inversely proportional to the throughput), with 1-6% higher performance impact.
With nearly 2.5m users, onion services have become the prominent part of the darkweb. Over the last five years alone, the number of onion domains has increased 20x, reaching more than 700k unique domains in January 2022. As onion services host various types of illicit content, they have become a valuable resource for darkweb research and an integral part of e-crime investigation and threat intelligence. However, this content is largely un-indexed by today's search engines and researchers have to rely on outdated or manually-collected datasets that are limited in scale, scope, or both. To tackle this problem, we built Dizzy: An open-source crawling and analysis system for onion services. Dizzy implements novel techniques to explore, update, check, and classify onion services at scale, without overwhelming the Tor network. We deployed Dizzy in April 2021 and used it to analyze more than 63.3m crawled onion webpages, focusing on domain operations, web content, cryptocurrency usage, and web graph. Our main findings show that onion services are unreliable due to their high churn rate, have a relatively small number of reachable domains that are often similar and illicit, enjoy a growing underground cryptocurrency economy, and have a graph that is relatively tightly-knit to, but topologically different from, the regular web's graph.
Existing algorithms for replicated lists, which are widely used in collaborative text editors, suffer from a problem: when two users concurrently insert text at the same position in the document, the merged outcome may interleave the inserted text passages, resulting in corrupted and potentially unreadable text. The problem has gone unnoticed for decades, and it affects both CRDTs and Operational Transformation. This paper presents Fugue, the first algorithm that guarantees maximal non-interleaving, our new correctness property for replicated lists. We present two variants of the Fugue algorithm, one based on a tree and the other based on a list, and prove that they are semantically equivalent. We also implement Fugue and demonstrate that it offers performance comparable to state-of-the-art CRDT libraries for text editing.
Approximate Bayesian Computation (ABC) is a widely applicable and popular approach to estimating unknown parameters of mechanistic models. As ABC analyses are computationally expensive, parallelization on high-performance infrastructure is often necessary. However, the existing parallelization strategies leave resources unused at times and thus do not optimally leverage them yet. We present look-ahead scheduling, a wall-time minimizing parallelization strategy for ABC Sequential Monte Carlo algorithms, which utilizes all available resources at practically all times by proactive sampling for prospective tasks. Our strategy can be integrated in e.g. adaptive distance function and summary statistic selection schemes, which is essential in practice. Evaluation of the strategy on different problems and numbers of parallel cores reveals speed-ups of typically 10-20% and up to 50% compared to the best established approach. Thus, the proposed strategy allows to substantially improve the cost and run-time efficiency of ABC methods on high-performance infrastructure.
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. In this work, we present a new approach to address this problem using the theory of braids. By establishing a topological equivalence between the physical cables and the space-time trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding these interaction patterns in the trajectories of the robots. Based on this finding, we present a graph search algorithm using the permutation grid to efficiently search for a feasible topology of paths and reject braid patterns that result in an entanglement. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for up to 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered UAVs in indoor flight experiments.
We consider dependent clustering of observations in groups. The proposed model, called the plaid atoms model (PAM), estimates a set of clusters for each group and allows some clusters to be either shared with other groups or uniquely possessed by the group. PAM is based on an extension to the well-known stick-breaking process by adding zero as a possible value for the cluster weights, resulting in a zero-augmented beta (ZAB) distribution in the model. As a result, ZAB allows some cluster weights to be exactly zero in multiple groups, thereby enabling shared and unique atoms across groups. We explore theoretical properties of PAM and show its connection to known Bayesian nonparametric models. We propose an efficient slice sampler for posterior inference. Minor extensions of the proposed model for multivariate or count data are presented. Simulation studies and applications using real-world datasets illustrate the model's desirable performance.
According to ICH Q8 guidelines, the biopharmaceutical manufacturer submits a design space (DS) definition as part of the regulatory approval application, in which case process parameter (PP) deviations within this space are not considered a change and do not trigger a regulatory post approval procedure. A DS can be described by non-linear PP ranges, i.e., the range of one PP conditioned on specific values of another. However, independent PP ranges (linear combinations) are often preferred in biopharmaceutical manufacturing due to their operation simplicity. While some statistical software supports the calculation of a DS comprised of linear combinations, such methods are generally based on discretizing the parameter space - an approach that scales poorly as the number of PPs increases. Here, we introduce a novel method for finding linear PP combinations using a numeric optimizer to calculate the largest design space within the parameter space that results in critical quality attribute (CQA) boundaries within acceptance criteria, predicted by a regression model. A precomputed approximation of tolerance intervals is used in inequality constraints to facilitate fast evaluations of this boundary using a single matrix multiplication. Correctness of the method was validated against different ground truths with known design spaces. Compared to stateof-the-art, grid-based approaches, the optimizer-based procedure is more accurate, generally yields a larger DS and enables the calculation in higher dimensions. Furthermore, a proposed weighting scheme can be used to favor certain PPs over others and therefore enabling a more dynamic approach to DS definition and exploration. The increased PP ranges of the larger DS provide greater operational flexibility for biopharmaceutical manufacturers.
To estimate causal effects, analysts performing observational studies in health settings utilize several strategies to mitigate bias due to confounding by indication. There are two broad classes of approaches for these purposes: use of confounders and instrumental variables (IVs). Because such approaches are largely characterized by untestable assumptions, analysts must operate under an indefinite paradigm that these methods will work imperfectly. In this tutorial, we formalize a set of general principles and heuristics for estimating causal effects in the two approaches when the assumptions are potentially violated. This crucially requires reframing the process of observational studies as hypothesizing potential scenarios where the estimates from one approach are less inconsistent than the other. While most of our discussion of methodology centers around the linear setting, we touch upon complexities in non-linear settings and flexible procedures such as target minimum loss-based estimation (TMLE) and double machine learning (DML). To demonstrate the application of our principles, we investigate the use of donepezil off-label for mild cognitive impairment (MCI). We compare and contrast results from confounder and IV methods, traditional and flexible, within our analysis and to a similar observational study and clinical trial.
Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the mission. It is possible for the vehicle to perch and stop its motors in such situations to conserve energy, as well as maintain a static position in unfavorable flying conditions. In the perching target estimation phase, the steady and accuracy of a visual camera with markers is a significant challenge. It is rapidly detectable from afar when using a large marker, but when the drone approaches, it quickly disappears as out of camera view. In this paper, a vision-based target poses estimation method using multiple markers is proposed to deal with the above-mentioned problems. First, a perching target with a small marker inside a larger one is designed to improve detection capability at wide and close ranges. Second, the relative poses of the flying vehicle are calculated from detected markers using a monocular camera. Next, a Kalman filter is applied to provide a more stable and reliable pose estimation, especially when the measurement data is missing due to unexpected reasons. Finally, we introduced an algorithm for merging the poses data from multi markers. The poses are then sent to the position controller to align the drone and the marker's center and steer it to perch on the target. The experimental results demonstrated the effectiveness and feasibility of the adopted approach. The drone can perch successfully onto the center of the markers with the attached 25mm-diameter rounded magnet.
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