Optimality in Goal-Dependent Analysis of Sharing

We face the problems of correctness, optimality and precision for the static analysis of logic programs, using the theory of abstract interpretation. We propose a framework with a denotational, goal-dependent semantics equipped with two unification operators for forward unification (calling a procedure) and backward unification (returning from a procedure). The latter is implemented through a matching operation. Our proposal clarifies and unifies many different frameworks and ideas on static analysis of logic programming in a single, formal setting. On the abstract side, we focus on the domain Sharing by Jacobs and Langen and provide the best correct approximation of all the primitive semantic operators, namely, projection, renaming, forward and backward unification. We show that the abstract unification operators are strictly more precise than those in the literature defined over the same abstract domain. In some cases, our operators are more precise than those developed for more complex domains involving linearity and freeness. To appear in Theory and Practice of Logic Programming (TPLP

Meta Inverse Reinforcement Learning via Maximum Reward Sharing for Human Motion Analysis

This work handles the inverse reinforcement learning (IRL) problem where only a small number of demonstrations are available from a demonstrator for each high-dimensional task, insufficient to estimate an accurate reward function. Observing that each demonstrator has an inherent reward for each state and the task-specific behaviors mainly depend on a small number of key states, we propose a meta IRL algorithm that first models the reward function for each task as a distribution conditioned on a baseline reward function shared by all tasks and dependent only on the demonstrator, and then finds the most likely reward function in the distribution that explains the task-specific behaviors. We test the method in a simulated environment on path planning tasks with limited demonstrations, and show that the accuracy of the learned reward function is significantly improved. We also apply the method to analyze the motion of a patient under rehabilitation.Comment: arXiv admin note: text overlap with arXiv:1707.0939

Towards Optimality in Parallel Scheduling

To keep pace with Moore's law, chip designers have focused on increasing the number of cores per chip rather than single core performance. In turn, modern jobs are often designed to run on any number of cores. However, to effectively leverage these multi-core chips, one must address the question of how many cores to assign to each job. Given that jobs receive sublinear speedups from additional cores, there is an obvious tradeoff: allocating more cores to an individual job reduces the job's runtime, but in turn decreases the efficiency of the overall system. We ask how the system should schedule jobs across cores so as to minimize the mean response time over a stream of incoming jobs. To answer this question, we develop an analytical model of jobs running on a multi-core machine. We prove that EQUI, a policy which continuously divides cores evenly across jobs, is optimal when all jobs follow a single speedup curve and have exponentially distributed sizes. EQUI requires jobs to change their level of parallelization while they run. Since this is not possible for all workloads, we consider a class of "fixed-width" policies, which choose a single level of parallelization, k, to use for all jobs. We prove that, surprisingly, it is possible to achieve EQUI's performance without requiring jobs to change their levels of parallelization by using the optimal fixed level of parallelization, k*. We also show how to analytically derive the optimal k* as a function of the system load, the speedup curve, and the job size distribution. In the case where jobs may follow different speedup curves, finding a good scheduling policy is even more challenging. We find that policies like EQUI which performed well in the case of a single speedup function now perform poorly. We propose a very simple policy, GREEDY*, which performs near-optimally when compared to the numerically-derived optimal policy