Distributed PCP Theorems for Hardness of Approximation in P

We present a new distributed model of probabilistically checkable proofs (PCP). A satisfying assignment $x \in \{0,1\}^n$ to a CNF formula $\varphi$ is shared between two parties, where Alice knows $x_1, \dots, x_{n/2}$, Bob knows $x_{n/2+1},\dots,x_n$, and both parties know $\varphi$. The goal is to have Alice and Bob jointly write a PCP that $x$ satisfies $\varphi$, while exchanging little or no information. Unfortunately, this model as-is does not allow for nontrivial query complexity. Instead, we focus on a non-deterministic variant, where the players are helped by Merlin, a third party who knows all of $x$. Using our framework, we obtain, for the first time, PCP-like reductions from the Strong Exponential Time Hypothesis (SETH) to approximation problems in P. In particular, under SETH we show that there are no truly-subquadratic approximation algorithms for Bichromatic Maximum Inner Product over {0,1}-vectors, Bichromatic LCS Closest Pair over permutations, Approximate Regular Expression Matching, and Diameter in Product Metric. All our inapproximability factors are nearly-tight. In particular, for the first two problems we obtain nearly-polynomial factors of $2^{(\log n)^{1-o(1)}}$; only $(1+o(1))$-factor lower bounds (under SETH) were known before

Evolving Graphical Planner: Contextual Global Planning for Vision-and-Language Navigation

The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively growing knowledge of the world; and (2) performing long-range planning and decision making in the form of effective exploration and error correction. Current methods are still limited on both fronts despite extensive efforts. In this paper, we introduce the Evolving Graphical Planner (EGP), a model that performs global planning for navigation based on raw sensory input. The model dynamically constructs a graphical representation, generalizes the action space to allow for more flexible decision making, and performs efficient planning on a proxy graph representation. We evaluate our model on a challenging Vision-and-Language Navigation (VLN) task with photorealistic images and achieve superior performance compared to previous navigation architectures. For instance, we achieve a 53% success rate on the test split of the Room-to-Room navigation task through pure imitation learning, outperforming previous navigation architectures by up to 5%

Large-area visually augmented navigation for autonomous underwater vehicles

Submitted to the Joint Program in Applied Ocean Science & Engineering in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2005This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting the inertial sensor information that is routinely available on such platforms. We adopt a systems-level approach exploiting the complementary aspects of inertial sensing and visual perception from a calibrated pose-instrumented platform. This systems-level strategy yields a robust solution to underwater imaging that overcomes many of the unique challenges of a marine environment (e.g., unstructured terrain, low-overlap imagery, moving light source). Our large-area SLAM algorithm recursively incorporates relative-pose constraints using a view-based representation that exploits exact sparsity in the Gaussian canonical form. This sparsity allows for efficient O(n) update complexity in the number of images composing the view-based map by utilizing recent multilevel relaxation techniques. We show that our algorithmic formulation is inherently sparse unlike other feature-based canonical SLAM algorithms, which impose sparseness via pruning approximations. In particular, we investigate the sparsification methodology employed by sparse extended information filters (SEIFs) and offer new insight as to why, and how, its approximation can lead to inconsistencies in the estimated state errors. Lastly, we present a novel algorithm for efficiently extracting consistent marginal covariances useful for data association from the information matrix. In summary, this thesis advances the current state-of-the-art in underwater visual navigation by demonstrating end-to-end automatic processing of the largest visually navigated dataset to date using data collected from a survey of the RMS Titanic (path length over 3 km and 3100 m2 of mapped area). This accomplishment embodies the summed contributions of this thesis to several current SLAM research issues including scalability, 6 degree of freedom motion, unstructured environments, and visual perception.This work was funded in part by the CenSSIS ERC of the National Science Foundation under grant EEC-9986821, in part by the Woods Hole Oceanographic Institution through a grant from the Penzance Foundation, and in part by a NDSEG Fellowship awarded through the Department of Defense

Hardness of Easy Problems: Basing Hardness on Popular Conjectures such as the Strong Exponential Time Hypothesis (Invited Talk)

Algorithmic research strives to develop fast algorithms for fundamental problems. Despite its many successes, however, many problems still do not have very efficient algorithms. For years researchers have explained the hardness for key problems by proving NP-hardness, utilizing polynomial time reductions to base the hardness of key problems on the famous conjecture P != NP. For problems that already have polynomial time algorithms, however, it does not seem that one can show any sort of hardness based on P != NP. Nevertheless, we would like to provide evidence that a problem $A$ with a running time O(n^k) that has not been improved in decades, also requires n^{k-o(1)} time, thus explaining the lack of progress on the problem. Such unconditional time lower bounds seem very difficult to obtain, unfortunately. Recent work has concentrated on an approach mimicking NP-hardness: (1) select a few key problems that are conjectured to require T(n) time to solve, (2) use special, fine-grained reductions to prove time lower bounds for many diverse problems in P based on the conjectured hardness of the key problems. In this abstract we outline the approach, give some examples of hardness results based on the Strong Exponential Time Hypothesis, and present an overview of some of the recent work on the topic

REGAL: Representation Learning-based Graph Alignment

Problems involving multiple networks are prevalent in many scientific and other domains. In particular, network alignment, or the task of identifying corresponding nodes in different networks, has applications across the social and natural sciences. Motivated by recent advancements in node representation learning for single-graph tasks, we propose REGAL (REpresentation learning-based Graph ALignment), a framework that leverages the power of automatically-learned node representations to match nodes across different graphs. Within REGAL we devise xNetMF, an elegant and principled node embedding formulation that uniquely generalizes to multi-network problems. Our results demonstrate the utility and promise of unsupervised representation learning-based network alignment in terms of both speed and accuracy. REGAL runs up to 30x faster in the representation learning stage than comparable methods, outperforms existing network alignment methods by 20 to 30% accuracy on average, and scales to networks with millions of nodes each.Comment: In Proceedings of the 27th ACM International Conference on Information and Knowledge Management (CIKM), 201