Accelerating Nearest Neighbor Search on Manycore Systems

We develop methods for accelerating metric similarity search that are effective on modern hardware. Our algorithms factor into easily parallelizable components, making them simple to deploy and efficient on multicore CPUs and GPUs. Despite the simple structure of our algorithms, their search performance is provably sublinear in the size of the database, with a factor dependent only on its intrinsic dimensionality. We demonstrate that our methods provide substantial speedups on a range of datasets and hardware platforms. In particular, we present results on a 48-core server machine, on graphics hardware, and on a multicore desktop

Towards multi-purpose main-memory storage structures: Exploiting sub-space distance equalities in totally ordered data sets for exact knn queries

Efficient knn computation for high-dimensional data is an important, yet challenging task. Today, most information systems use a column-store back-end for relational data. For such systems, multi-dimensional indexes accelerating selections are known. However, they cannot be used to accelerate knn queries. Consequently, one relies on sequential scans, specialized knn indexes, or trades result quality for speed. To avoid storing one specialized index per query type, we envision multipurpose indexes allowing to efficiently compute multiple query types. In this paper, we focus on additionally supporting knn queries as first step towards this goal. To this end, we study how to exploit total orders for accelerating knn queries based on the sub-space distance equalities observation. It means that non-equal points in the full space, which are projected to the same point in a sub space, have the same distance to every other point in this sub space. In case one can easily find these equalities and tune storage structures towards them, this offers two effects one can exploit to accelerate knn queries. The first effect allows pruning of point groups based on a cascade of lower bounds. The second allows to re-use previously computed sub-space distances between point groups. This results in a worst-case execution bound, which is independent of the distance function. We present knn algorithms exploiting both effects and show how to tune a storage structure already known to work well for multi-dimensional selections. Our investigations reveal that the effects are robust to increasing, e.g., the dimensionality, suggesting generally good knn performance. Comparing our knn algorithms to well-known competitors reveals large performance improvements up to one order of magnitude. Furthermore, the algorithms deliver at least comparable performance as the next fastest competitor suggesting that the algorithms are only marginally affected by the curse of dimensionality

Neural Distributed Autoassociative Memories: A Survey

Introduction. Neural network models of autoassociative, distributed memory allow storage and retrieval of many items (vectors) where the number of stored items can exceed the vector dimension (the number of neurons in the network). This opens the possibility of a sublinear time search (in the number of stored items) for approximate nearest neighbors among vectors of high dimension. The purpose of this paper is to review models of autoassociative, distributed memory that can be naturally implemented by neural networks (mainly with local learning rules and iterative dynamics based on information locally available to neurons). Scope. The survey is focused mainly on the networks of Hopfield, Willshaw and Potts, that have connections between pairs of neurons and operate on sparse binary vectors. We discuss not only autoassociative memory, but also the generalization properties of these networks. We also consider neural networks with higher-order connections and networks with a bipartite graph structure for non-binary data with linear constraints. Conclusions. In conclusion we discuss the relations to similarity search, advantages and drawbacks of these techniques, and topics for further research. An interesting and still not completely resolved question is whether neural autoassociative memories can search for approximate nearest neighbors faster than other index structures for similarity search, in particular for the case of very high dimensional vectors.Comment: 31 page

Efficient data structures for model-free data-driven computational mechanics

The data-driven computing paradigm initially introduced by Kirchdoerfer & Ortiz (2016) enables finite element computations in solid mechanics to be performed directly from material data sets, without an explicit material model. From a computational effort point of view, the most challenging task is the projection of admissible states at material points onto their closest states in the material data set. In this study, we compare and develop several possible data structures for solving the nearest-neighbor problem. We show that approximate nearest-neighbor (ANN) algorithms can accelerate material data searches by several orders of magnitude relative to exact searching algorithms. The approximations are suggested by—and adapted to—the structure of the data-driven iterative solver and result in no significant loss of solution accuracy. We assess the performance of the ANN algorithm with respect to material data set size with the aid of a 3D elasticity test case. We show that computations on a single processor with up to one billion material data points are feasible within a few seconds execution time with a speed up of more than 10⁶ with respect to exact k-d trees

Scaling Robot Motion Planning to Multi-core Processors and the Cloud

Imagine a world in which robots safely interoperate with humans, gracefully and efficiently accomplishing everyday tasks. The robot's motions for these tasks, constrained by the design of the robot and task at hand, must avoid collisions with obstacles. Unfortunately, planning a constrained obstacle-free motion for a robot is computationally complex---often resulting in slow computation of inefficient motions. The methods in this dissertation speed up this motion plan computation with new algorithms and data structures that leverage readily available parallel processing, whether that processing power is on the robot or in the cloud, enabling robots to operate safer, more gracefully, and with improved efficiency. The contributions of this dissertation that enable faster motion planning are novel parallel lock-free algorithms, fast and concurrent nearest neighbor searching data structures, cache-aware operation, and split robot-cloud computation. Parallel lock-free algorithms avoid contention over shared data structures, resulting in empirical speedup proportional to the number of CPU cores working on the problem. Fast nearest neighbor data structures speed up searching in SO(3) and SE(3) metric spaces, which are needed for rigid body motion planning. Concurrent nearest neighbor data structures improve searching performance on metric spaces common to robot motion planning problems, while providing asymptotic wait-free concurrent operation. Cache-aware operation avoids long memory access times, allowing the algorithm to exhibit superlinear speedup. Split robot-cloud computation enables robots with low-power CPUs to react to changing environments by having the robot compute reactive paths in real-time from a set of motion plan options generated in a computationally intensive cloud-based algorithm. We demonstrate the scalability and effectiveness of our contributions in solving motion planning problems both in simulation and on physical robots of varying design and complexity. Problems include finding a solution to a complex motion planning problem, pre-computing motion plans that converge towards the optimal, and reactive interaction with dynamic environments. Robots include 2D holonomic robots, 3D rigid-body robots, a self-driving 1/10 scale car, articulated robot arms with and without mobile bases, and a small humanoid robot.Doctor of Philosoph