Better Pseudorandom Generators from Milder Pseudorandom Restrictions

We present an iterative approach to constructing pseudorandom generators, based on the repeated application of mild pseudorandom restrictions. We use this template to construct pseudorandom generators for combinatorial rectangles and read-once CNFs and a hitting set generator for width-3 branching programs, all of which achieve near-optimal seed-length even in the low-error regime: We get seed-length O(log (n/epsilon)) for error epsilon. Previously, only constructions with seed-length O(\log^{3/2} n) or O(\log^2 n) were known for these classes with polynomially small error. The (pseudo)random restrictions we use are milder than those typically used for proving circuit lower bounds in that we only set a constant fraction of the bits at a time. While such restrictions do not simplify the functions drastically, we show that they can be derandomized using small-bias spaces.Comment: To appear in FOCS 201

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

Minimum and maximum entropy distributions for binary systems with known means and pairwise correlations

Maximum entropy models are increasingly being used to describe the collective activity of neural populations with measured mean neural activities and pairwise correlations, but the full space of probability distributions consistent with these constraints has not been explored. We provide upper and lower bounds on the entropy for the {\em minimum} entropy distribution over arbitrarily large collections of binary units with any fixed set of mean values and pairwise correlations. We also construct specific low-entropy distributions for several relevant cases. Surprisingly, the minimum entropy solution has entropy scaling logarithmically with system size for any set of first- and second-order statistics consistent with arbitrarily large systems. We further demonstrate that some sets of these low-order statistics can only be realized by small systems. Our results show how only small amounts of randomness are needed to mimic low-order statistical properties of highly entropic distributions, and we discuss some applications for engineered and biological information transmission systems.Comment: 34 pages, 7 figure