First-Order Decomposition Trees

Lifting attempts to speed up probabilistic inference by exploiting symmetries in the model. Exact lifted inference methods, like their propositional counterparts, work by recursively decomposing the model and the problem. In the propositional case, there exist formal structures, such as decomposition trees (dtrees), that represent such a decomposition and allow us to determine the complexity of inference a priori. However, there is currently no equivalent structure nor analogous complexity results for lifted inference. In this paper, we introduce FO-dtrees, which upgrade propositional dtrees to the first-order level. We show how these trees can characterize a lifted inference solution for a probabilistic logical model (in terms of a sequence of lifted operations), and make a theoretical analysis of the complexity of lifted inference in terms of the novel notion of lifted width for the tree

Exploiting Structure for Optimal Multi-Agent Bayesian Decentralized Estimation

A key challenge in Bayesian decentralized data fusion is the `rumor propagation' or `double counting' phenomenon, where previously sent data circulates back to its sender. It is often addressed by approximate methods like covariance intersection (CI) which takes a weighted average of the estimates to compute the bound. The problem is that this bound is not tight, i.e. the estimate is often over-conservative. In this paper, we show that by exploiting the probabilistic independence structure in multi-agent decentralized fusion problems a tighter bound can be found using (i) an expansion to the CI algorithm that uses multiple (non-monolithic) weighting factors instead of one (monolithic) factor in the original CI and (ii) a general optimization scheme that is able to compute optimal bounds and fully exploit an arbitrary dependency structure. We compare our methods and show that on a simple problem, they converge to the same solution. We then test our new non-monolithic CI algorithm on a large-scale target tracking simulation and show that it achieves a tighter bound and a more accurate estimate compared to the original monolithic CI.Comment: 4 pages, 4 figures. presented at the Inference and Decision Making for Autonomous Vehicles (IDMAV) RSS 2023 worksho

GraphBLAST: A High-Performance Linear Algebra-based Graph Framework on the GPU

High-performance implementations of graph algorithms are challenging to implement on new parallel hardware such as GPUs because of three challenges: (1) the difficulty of coming up with graph building blocks, (2) load imbalance on parallel hardware, and (3) graph problems having low arithmetic intensity. To address some of these challenges, GraphBLAS is an innovative, on-going effort by the graph analytics community to propose building blocks based on sparse linear algebra, which will allow graph algorithms to be expressed in a performant, succinct, composable and portable manner. In this paper, we examine the performance challenges of a linear-algebra-based approach to building graph frameworks and describe new design principles for overcoming these bottlenecks. Among the new design principles is exploiting input sparsity, which allows users to write graph algorithms without specifying push and pull direction. Exploiting output sparsity allows users to tell the backend which values of the output in a single vectorized computation they do not want computed. Load-balancing is an important feature for balancing work amongst parallel workers. We describe the important load-balancing features for handling graphs with different characteristics. The design principles described in this paper have been implemented in "GraphBLAST", the first high-performance linear algebra-based graph framework on NVIDIA GPUs that is open-source. The results show that on a single GPU, GraphBLAST has on average at least an order of magnitude speedup over previous GraphBLAS implementations SuiteSparse and GBTL, comparable performance to the fastest GPU hardwired primitives and shared-memory graph frameworks Ligra and Gunrock, and better performance than any other GPU graph framework, while offering a simpler and more concise programming model.Comment: 50 pages, 14 figures, 14 table

Comparing MapReduce and pipeline implementations for counting triangles

A generalized method to define the Divide & Conquer paradigm in order to have processors acting on its own data and scheduled in a parallel fashion. MapReduce is a programming model that follows this paradigm, and allows for the definition of efficient solutions by both decomposing a problem into steps on subsets of the input data and combining the results of each step to produce final results. Albeit used for the implementation of a wide variety of computational problems, MapReduce performance can be negatively affected whenever the replication factor grows or the size of the input is larger than the resources available at each processor. In this paper we show an alternative approach to implement the Divide & Conquer paradigm, named pipeline. The main features of pipeline are illustrated on a parallel implementation of the well-known problem of counting triangles in a graph. This problem is especially interesting either when the input graph does not fit in memory or is dynamically generated. To evaluate the properties of pipeline, a dynamic pipeline of processes and an ad-hoc version of MapReduce are implemented in the language Go, exploiting its ability to deal with channels and spawned processes. An empirical evaluation is conducted on graphs of different sizes and densities. Observed results suggest that pipeline allows for the implementation of an efficient solution of the problem of counting triangles in a graph, particularly, in dense and large graphs, drastically reducing the execution time with respect to the MapReduce implementation.Peer ReviewedPostprint (published version

Structured Sparsity Models for Multiparty Speech Recovery from Reverberant Recordings

We tackle the multi-party speech recovery problem through modeling the acoustic of the reverberant chambers. Our approach exploits structured sparsity models to perform room modeling and speech recovery. We propose a scheme for characterizing the room acoustic from the unknown competing speech sources relying on localization of the early images of the speakers by sparse approximation of the spatial spectra of the virtual sources in a free-space model. The images are then clustered exploiting the low-rank structure of the spectro-temporal components belonging to each source. This enables us to identify the early support of the room impulse response function and its unique map to the room geometry. To further tackle the ambiguity of the reflection ratios, we propose a novel formulation of the reverberation model and estimate the absorption coefficients through a convex optimization exploiting joint sparsity model formulated upon spatio-spectral sparsity of concurrent speech representation. The acoustic parameters are then incorporated for separating individual speech signals through either structured sparse recovery or inverse filtering the acoustic channels. The experiments conducted on real data recordings demonstrate the effectiveness of the proposed approach for multi-party speech recovery and recognition.Comment: 31 page

Comparing MapReduce and pipeline implementations for counting triangles

A common method to define a parallel solution for a computational problem consists in finding a way to use the Divide and Conquer paradigm in order to have processors acting on its own data and scheduled in a parallel fashion. MapReduce is a programming model that follows this paradigm, and allows for the definition of efficient solutions by both decomposing a problem into steps on subsets of the input data and combining the results of each step to produce final results. Albeit used for the implementation of a wide variety of computational problems, MapReduce performance can be negatively affected whenever the replication factor grows or the size of the input is larger than the resources available at each processor. In this paper we show an alternative approach to implement the Divide and Conquer paradigm, named dynamic pipeline. The main features of dynamic pipelines are illustrated on a parallel implementation of the well-known problem of counting triangles in a graph. This problem is especially interesting either when the input graph does not fit in memory or is dynamically generated. To evaluate the properties of pipeline, a dynamic pipeline of processes and an ad-hoc version of MapReduce are implemented in the language Go, exploiting its ability to deal with channels and spawned processes. An empirical evaluation is conducted on graphs of different topologies, sizes, and densities. Observed results suggest that dynamic pipelines allows for an efficient implementation of the problem of counting triangles in a graph, particularly, in dense and large graphs, drastically reducing the execution time with respect to the MapReduce implementation.Peer ReviewedPostprint (published version

An Iterative Solution of the Three-colour Problem on a Random Lattice

We study the generalisation of Baxter's three-colour problem to a random lattice. Rephrasing the problem as a matrix model problem we discuss the analyticity structure and the critical behaviour of the resulting matrix model. Based on a set of loop equations we develop an algorithm which enables us to solve the three-colour problem recursivelyComment: 14 pages, LaTeX, misprints corrected, approximation of (6.20) refine