10,957 research outputs found
The Case for Learned Index Structures
Indexes are models: a B-Tree-Index can be seen as a model to map a key to the
position of a record within a sorted array, a Hash-Index as a model to map a
key to a position of a record within an unsorted array, and a BitMap-Index as a
model to indicate if a data record exists or not. In this exploratory research
paper, we start from this premise and posit that all existing index structures
can be replaced with other types of models, including deep-learning models,
which we term learned indexes. The key idea is that a model can learn the sort
order or structure of lookup keys and use this signal to effectively predict
the position or existence of records. We theoretically analyze under which
conditions learned indexes outperform traditional index structures and describe
the main challenges in designing learned index structures. Our initial results
show, that by using neural nets we are able to outperform cache-optimized
B-Trees by up to 70% in speed while saving an order-of-magnitude in memory over
several real-world data sets. More importantly though, we believe that the idea
of replacing core components of a data management system through learned models
has far reaching implications for future systems designs and that this work
just provides a glimpse of what might be possible
Differentiable Algorithm Networks for Composable Robot Learning
This paper introduces the Differentiable Algorithm Network (DAN), a
composable architecture for robot learning systems. A DAN is composed of neural
network modules, each encoding a differentiable robot algorithm and an
associated model; and it is trained end-to-end from data. DAN combines the
strengths of model-driven modular system design and data-driven end-to-end
learning. The algorithms and models act as structural assumptions to reduce the
data requirements for learning; end-to-end learning allows the modules to adapt
to one another and compensate for imperfect models and algorithms, in order to
achieve the best overall system performance. We illustrate the DAN methodology
through a case study on a simulated robot system, which learns to navigate in
complex 3-D environments with only local visual observations and an image of a
partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at
https://youtu.be/4jcYlTSJF4
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