Taming Numbers and Durations in the Model Checking Integrated Planning System

The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration algorithms from the set of on-line and off-line computed estimates and associated data structures. MIPS has shown distinguished performance in the last two international planning competitions. In the last event the description language was extended from pure propositional planning to include numerical state variables, action durations, and plan quality objective functions. Plans were no longer sequences of actions but time-stamped schedules. As a participant of the fully automated track of the competition, MIPS has proven to be a general system; in each track and every benchmark domain it efficiently computed plans of remarkable quality. This article introduces and analyzes the most important algorithmic novelties that were necessary to tackle the new layers of expressiveness in the benchmark problems and to achieve a high level of performance. The extensions include critical path analysis of sequentially generated plans to generate corresponding optimal parallel plans. The linear time algorithm to compute the parallel plan bypasses known NP hardness results for partial ordering by scheduling plans with respect to the set of actions and the imposed precedence relations. The efficiency of this algorithm also allows us to improve the exploration guidance: for each encountered planning state the corresponding approximate sequential plan is scheduled. One major strength of MIPS is its static analysis phase that grounds and simplifies parameterized predicates, functions and operators, that infers knowledge to minimize the state description length, and that detects domain object symmetries. The latter aspect is analyzed in detail. MIPS has been developed to serve as a complete and optimal state space planner, with admissible estimates, exploration engines and branching cuts. In the competition version, however, certain performance compromises had to be made, including floating point arithmetic, weighted heuristic search exploration according to an inadmissible estimate and parameterized optimization

Speeding Up MCMC by Delayed Acceptance and Data Subsampling

The complexity of the Metropolis-Hastings (MH) algorithm arises from the requirement of a likelihood evaluation for the full data set in each iteration. Payne and Mallick (2015) propose to speed up the algorithm by a delayed acceptance approach where the acceptance decision proceeds in two stages. In the first stage, an estimate of the likelihood based on a random subsample determines if it is likely that the draw will be accepted and, if so, the second stage uses the full data likelihood to decide upon final acceptance. Evaluating the full data likelihood is thus avoided for draws that are unlikely to be accepted. We propose a more precise likelihood estimator which incorporates auxiliary information about the full data likelihood while only operating on a sparse set of the data. We prove that the resulting delayed acceptance MH is more efficient compared to that of Payne and Mallick (2015). The caveat of this approach is that the full data set needs to be evaluated in the second stage. We therefore propose to substitute this evaluation by an estimate and construct a state-dependent approximation thereof to use in the first stage. This results in an algorithm that (i) can use a smaller subsample m by leveraging on recent advances in Pseudo-Marginal MH (PMMH) and (ii) is provably within $O(m^{-2})$ of the true posterior.Comment: Accepted for publication in Journal of Computational and Graphical Statistic

Distributed N-body Simulation on the Grid Using Dedicated Hardware

We present performance measurements of direct gravitational N -body simulation on the grid, with and without specialized (GRAPE-6) hardware. Our inter-continental virtual organization consists of three sites, one in Tokyo, one in Philadelphia and one in Amsterdam. We run simulations with up to 196608 particles for a variety of topologies. In many cases, high performance simulations over the entire planet are dominated by network bandwidth rather than latency. With this global grid of GRAPEs our calculation time remains dominated by communication over the entire range of N, which was limited due to the use of three sites. Increasing the number of particles will result in a more efficient execution. Based on these timings we construct and calibrate a model to predict the performance of our simulation on any grid infrastructure with or without GRAPE. We apply this model to predict the simulation performance on the Netherlands DAS-3 wide area computer. Equipping the DAS-3 with GRAPE-6Af hardware would achieve break-even between calculation and communication at a few million particles, resulting in a compute time of just over ten hours for 1 N -body time unit. Key words: high-performance computing, grid, N-body simulation, performance modellingComment: (in press) New Astronomy, 24 pages, 5 figure

CCL: a portable and tunable collective communication library for scalable parallel computers

A collective communication library for parallel computers includes frequently used operations such as broadcast, reduce, scatter, gather, concatenate, synchronize, and shift. Such a library provides users with a convenient programming interface, efficient communication operations, and the advantage of portability. A library of this nature, the Collective Communication Library (CCL), intended for the line of scalable parallel computer products by IBM, has been designed. CCL is part of the parallel application programming interface of the recently announced IBM 9076 Scalable POWERparallel System 1 (SP1). In this paper, we examine several issues related to the functionality, correctness, and performance of a portable collective communication library while focusing on three novel aspects in the design and implementation of CCL: 1) the introduction of process groups, 2) the definition of semantics that ensures correctness, and 3) the design of new and tunable algorithms based on a realistic point-to-point communication model