DBSCAN is a well-known density-based clustering algorithm to discover arbitrary shape clusters. While conceptually simple in serial, the algorithm is challenging to efficiently parallelize on manycore GPU architectures. Common pitfalls, such as asynchronous range query calls, result in high thread execution divergence in many implementations. In this paper, we propose a new framework for GPU-accelerated DBSCAN, and describe two tree-based algorithms within that framework. Both algorithms fuse the search for neighbors with updating cluster information, but differ in their treatment of dense regions of the data. We show that the time taken to compute clusters is at most twice that of determination of the neighbors. We compare the proposed algorithms with existing CPU and GPU implementations, and demonstrate their competitiveness and performance using a fast traversal structure (bounding volume hierarchy) for low dimensional data. We also show that the memory usage can be reduced by processing object neighbors dynamically without storing them.
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Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the geometric, occupancy, or ESDF map. Although they have shown success in static environments, due to the limitation of map representation, those methods cannot reliably handle static and dynamic obstacles simultaneously. To address the problem, this paper proposes a gradient-based B-spline trajectory optimization algorithm utilizing the robot's onboard vision. The depth vision enables the robot to track and represent dynamic objects geometrically based on the voxel map. The proposed optimization first adopts the circle-based guide-point algorithm to approximate the costs and gradients for avoiding static obstacles. Then, with the vision-detected moving objects, our receding-horizon distance field is simultaneously used to prevent dynamic collisions. Finally, the iterative re-guide strategy is applied to generate the collision-free trajectory. The simulation and physical experiments prove that our method can run in real-time to navigate dynamic environments safely.
The purpose of this work is to develop a framework to calibrate signed datasets so as to be consistent with specified marginals by suitably extending the Schr\"odinger-Fortet-Sinkhorn paradigm. Specifically, we seek to revise sign-indefinite multi-dimensional arrays in a way that the updated values agree with specified marginals. Our approach follows the rationale in Schr\"odinger's problem, aimed at updating a "prior" probability measure to agree with marginal distributions. The celebrated Sinkhorn's algorithm (established earlier by R.\ Fortet) that solves Schr\"odinger's problem found early applications in calibrating contingency tables in statistics and, more recently, multi-marginal problems in machine learning and optimal transport. Herein, we postulate a sign-indefinite prior in the form of a multi-dimensional array, and propose an optimization problem to suitably update this prior to ensure consistency with given marginals. The resulting algorithm generalizes the Sinkhorn algorithm in that it amounts to iterative scaling of the entries of the array along different coordinate directions. The scaling is multiplicative but also, in contrast to Sinkhorn, inverse-multiplicative depending on the sign of the entries. Our algorithm reduces to the classical Sinkhorn algorithm when the entries of the prior are positive.
Differential geometric approaches are ubiquitous in several fields of mathematics, physics and engineering, and their discretizations enable the development of network-based mathematical and computational frameworks, which are essential for large-scale data science. The Forman-Ricci curvature (FRC) - a statistical measure based on Riemannian geometry and designed for networks - is known for its high capacity for extracting geometric information from complex networks. However, extracting information from dense networks is still challenging due to the combinatorial explosion of high-order network structures. Motivated by this challenge we sought a set-theoretic representation theory for high-order network cells and FRC, as well as their associated concepts and properties, which together provide an alternative and efficient formulation for computing high-order FRC in complex networks. We provide a pseudo-code, a software implementation coined FastForman, as well as a benchmark comparison with alternative implementations. Crucially, our representation theory reveals previous computational bottlenecks and also accelerates the computation of FRC. As a consequence, our findings open new research possibilities in complex systems where higher-order geometric computations are required.
In this study, Synthetic Aperture Radar (SAR) and optical data are both considered for Earth surface classification. Specifically, the integration of Sentinel-1 (S-1) and Sentinel-2 (S-2) data is carried out through supervised Machine Learning (ML) algorithms implemented on the Google Earth Engine (GEE) platform for the classification of a particular region of interest. Achieved results demonstrate how in this case radar and optical remote detection provide complementary information, benefiting surface cover classification and generally leading to increased mapping accuracy. In addition, this paper works in the direction of proving the emerging role of GEE as an effective cloud-based tool for handling large amounts of satellite data.
We propose a new way to assess certain short constructed responses to mathematics items. Our approach uses a pipeline that identifies the key values specified by the student in their response. This allows us to determine the correctness of the response, as well as identify any misconceptions. The information from the value identification pipeline can then be used to provide feedback to the teacher and student. The value identification pipeline consists of two fine-tuned language models. The first model determines if a value is implicit in the student response. The second model identifies where in the response the key value is specified. We consider both a generic model that can be used for any prompt and value, as well as models that are specific to each prompt and value. The value identification pipeline is a more accurate and informative way to assess short constructed responses than traditional rubric-based scoring. It can be used to provide more targeted feedback to students, which can help them improve their understanding of mathematics.
Graph algorithms play an important role in many computer science areas. In order to solve problems that can be modeled using graphs, it is necessary to use a data structure that can represent those graphs in an efficient manner. On top of this, an infrastructure should be build that will assist in implementing common algorithms or developing specialized ones. Here, a new Java library is introduced, called Graph4J, that uses a different approach when compared to existing, well-known Java libraries such as JGraphT, JUNG and Guava Graph. Instead of using object-oriented data structures for graph representation, a lower-level model based on arrays of primitive values is utilized, that drastically reduces the required memory and the running times of the algorithm implementations. The design of the library, the space complexity of the graph structures and the time complexity of the most common graph operations are presented in detail, along with an experimental study that evaluates its performance, when compared to the other libraries. Emphasis is given to infrastructure related aspects, that is graph creation, inspection, alteration and traversal. The improvements obtained for other implemented algorithms are also analyzed and it is shown that the proposed library significantly outperforms the existing ones.
Fixed-point iteration algorithms like RTA (response time analysis) and QPA (quick processor-demand analysis) are arguably the most popular ways of solving schedulability problems for preemptive uniprocessor FP (fixed-priority) and EDF (earliest-deadline-first) systems. Several IP (integer program) formulations have also been proposed for these problems, but it is unclear whether the algorithms for solving these formulations are related to RTA and QPA. By discovering connections between the problems and the algorithms, we show that RTA and QPA are, in fact, suboptimal cutting-plane algorithms for specific IP formulations of FP and EDF schedulability, where optimality is defined with respect to convergence rate. We propose optimal cutting-plane algorithms for these IP formulations. We compare the new algorithms with RTA and QPA on large collections of synthetic systems to gauge the improvement in convergence rates and running times.
A central problem in computational statistics is to convert a procedure for sampling combinatorial from an objects into a procedure for counting those objects, and vice versa. Weconsider sampling problems coming from *Gibbs distributions*, which are probability distributions of the form $\mu^\Omega_\beta(\omega) \propto e^{\beta H(\omega)}$ for $\beta$ in an interval $[\beta_\min, \beta_\max]$ and $H( \omega ) \in \{0 \} \cup [1, n]$. The *partition function* is the normalization factor $Z(\beta)=\sum_{\omega \in\Omega}e^{\beta H(\omega)}$. Two important parameters are the log partition ratio $q = \log \tfrac{Z(\beta_\max)}{Z(\beta_\min)}$ and the vector of counts $c_x = |H^{-1}(x)|$. Our first result is an algorithm to estimate the counts $c_x$ using roughly $\tilde O( \frac{q}{\epsilon^2})$ samples for general Gibbs distributions and $\tilde O( \frac{n^2}{\epsilon^2} )$ samples for integer-valued distributions (ignoring some second-order terms and parameters). We show this is optimal up to logarithmic factors. We illustrate with improved algorithms for counting connected subgraphs and perfect matchings in a graph. We develop a key subroutine for global estimation of the partition function. Specifically, we produce a data structure to estimate $Z(\beta)$ for \emph{all} values $\beta$, without further samples. Constructing the data structure requires $O(\frac{q \log n}{\epsilon^2})$ samples for general Gibbs distributions and $O(\frac{n^2 \log n}{\epsilon^2} + n \log q)$ samples for integer-valued distributions. This improves over a prior algorithm of Kolmogorov (2018) which computes the single point estimate $Z(\beta_\max)$ using $\tilde O(\frac{q}{\epsilon^2})$ samples. We also show that this complexity is optimal as a function of $n$ and $q$ up to logarithmic terms.
Time-dependent basis reduced order models (TDB ROMs) have successfully been used for approximating the solution to nonlinear stochastic partial differential equations (PDEs). For many practical problems of interest, discretizing these PDEs results in massive matrix differential equations (MDEs) that are too expensive to solve using conventional methods. While TDB ROMs have the potential to significantly reduce this computational burden, they still suffer from the following challenges: (i) inefficient for general nonlinearities, (ii) intrusive implementation, (iii) ill-conditioned in the presence of small singular values, and (iv) error accumulation due to fixed rank. To this end, we present a scalable method based on oblique projections for solving TDB ROMs that is computationally efficient, minimally intrusive, robust in the presence of small singular values, rank-adaptive, and highly parallelizable. These favorable properties are achieved via low-rank approximation of the time discrete MDE. Using the discrete empirical interpolation method (DEIM), a low-rank decomposition is computed at each iteration of the time stepping scheme, enabling a near-optimal approximation at a fraction of the cost. We coin the new approach TDB-CUR since it is equivalent to a CUR decomposition based on sparse row and column samples of the MDE. We also propose a rank-adaptive procedure to control the error on-the-fly. Numerical results demonstrate the accuracy, efficiency, and robustness of the new method for a diverse set of problems.
We derive information-theoretic generalization bounds for supervised learning algorithms based on the information contained in predictions rather than in the output of the training algorithm. These bounds improve over the existing information-theoretic bounds, are applicable to a wider range of algorithms, and solve two key challenges: (a) they give meaningful results for deterministic algorithms and (b) they are significantly easier to estimate. We show experimentally that the proposed bounds closely follow the generalization gap in practical scenarios for deep learning.
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