46,243 research outputs found
Parallelizing RRT on distributed-memory architectures
This paper addresses the problem of improving the performance of the Rapidly-exploring Random Tree (RRT) algorithm by parallelizing it. For scalability reasons we do so on a distributed-memory architecture, using the message-passing paradigm. We present three parallel versions of RRT along with the technicalities involved in their implementation. We also evaluate the algorithms and study how they behave on different motion planning problems
Distributed Bayesian Matrix Factorization with Limited Communication
Bayesian matrix factorization (BMF) is a powerful tool for producing low-rank
representations of matrices and for predicting missing values and providing
confidence intervals. Scaling up the posterior inference for massive-scale
matrices is challenging and requires distributing both data and computation
over many workers, making communication the main computational bottleneck.
Embarrassingly parallel inference would remove the communication needed, by
using completely independent computations on different data subsets, but it
suffers from the inherent unidentifiability of BMF solutions. We introduce a
hierarchical decomposition of the joint posterior distribution, which couples
the subset inferences, allowing for embarrassingly parallel computations in a
sequence of at most three stages. Using an efficient approximate
implementation, we show improvements empirically on both real and simulated
data. Our distributed approach is able to achieve a speed-up of almost an order
of magnitude over the full posterior, with a negligible effect on predictive
accuracy. Our method outperforms state-of-the-art embarrassingly parallel MCMC
methods in accuracy, and achieves results competitive to other available
distributed and parallel implementations of BMF.Comment: 28 pages, 8 figures. The paper is published in Machine Learning
journal. An implementation of the method is is available in SMURFF software
on github (bmfpp branch): https://github.com/ExaScience/smurf
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