Budget Feasible Mechanisms for Experimental Design

In the classical experimental design setting, an experimenter E has access to a population of $n$ potential experiment subjects $i\in \{1,...,n\}$, each associated with a vector of features $x_i\in R^d$. Conducting an experiment with subject $i$ reveals an unknown value $y_i\in R$ to E. E typically assumes some hypothetical relationship between $x_i$'s and $y_i$'s, e.g., $y_i \approx \beta x_i$, and estimates $\beta$ from experiments, e.g., through linear regression. As a proxy for various practical constraints, E may select only a subset of subjects on which to conduct the experiment. We initiate the study of budgeted mechanisms for experimental design. In this setting, E has a budget $B$. Each subject $i$ declares an associated cost $c_i >0$ to be part of the experiment, and must be paid at least her cost. In particular, the Experimental Design Problem (EDP) is to find a set $S$ of subjects for the experiment that maximizes V(S) = \log\det(I_d+\sum_{i\in S}x_i\T{x_i}) under the constraint $\sum_{i\in S}c_i\leq B$; our objective function corresponds to the information gain in parameter $\beta$ that is learned through linear regression methods, and is related to the so-called $D$-optimality criterion. Further, the subjects are strategic and may lie about their costs. We present a deterministic, polynomial time, budget feasible mechanism scheme, that is approximately truthful and yields a constant factor approximation to EDP. In particular, for any small $\delta > 0$ and $\epsilon > 0$, we can construct a (12.98, $\epsilon$)-approximate mechanism that is $\delta$-truthful and runs in polynomial time in both $n$ and $\log\log\frac{B}{\epsilon\delta}$. We also establish that no truthful, budget-feasible algorithms is possible within a factor 2 approximation, and show how to generalize our approach to a wide class of learning problems, beyond linear regression

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

A Randomized Greedy Algorithm for Near-Optimal Sensor Scheduling in Large-Scale Sensor Networks

We study the problem of scheduling sensors in a resource-constrained linear dynamical system, where the objective is to select a small subset of sensors from a large network to perform the state estimation task. We formulate this problem as the maximization of a monotone set function under a matroid constraint. We propose a randomized greedy algorithm that is significantly faster than state-of-the-art methods. By introducing the notion of curvature which quantifies how close a function is to being submodular, we analyze the performance of the proposed algorithm and find a bound on the expected mean square error (MSE) of the estimator that uses the selected sensors in terms of the optimal MSE. Moreover, we derive a probabilistic bound on the curvature for the scenario where{\color{black}{ the measurements are i.i.d. random vectors with bounded $\ell_2$ norm.}} Simulation results demonstrate efficacy of the randomized greedy algorithm in a comparison with greedy and semidefinite programming relaxation methods

A Randomized Greedy Algorithm for Near-Optimal Sensor Scheduling in Large-Scale Sensor Networks

We study the problem of scheduling sensors in a resource-constrained linear dynamical system, where the objective is to select a small subset of sensors from a large network to perform the state estimation task. We formulate this problem as the maximization of a monotone set function under a matroid constraint. We propose a randomized greedy algorithm that is significantly faster than state-of-the-art methods. By introducing the notion of curvature which quantifies how close a function is to being submodular, we analyze the performance of the proposed algorithm and find a bound on the expected mean square error (MSE) of the estimator that uses the selected sensors in terms of the optimal MSE. Moreover, we derive a probabilistic bound on the curvature for the scenario where{\color{black}{ the measurements are i.i.d. random vectors with bounded $\ell_2$ norm.}} Simulation results demonstrate efficacy of the randomized greedy algorithm in a comparison with greedy and semidefinite programming relaxation methods

Scalable Methods for Adaptively Seeding a Social Network

In recent years, social networking platforms have developed into extraordinary channels for spreading and consuming information. Along with the rise of such infrastructure, there is continuous progress on techniques for spreading information effectively through influential users. In many applications, one is restricted to select influencers from a set of users who engaged with the topic being promoted, and due to the structure of social networks, these users often rank low in terms of their influence potential. An alternative approach one can consider is an adaptive method which selects users in a manner which targets their influential neighbors. The advantage of such an approach is that it leverages the friendship paradox in social networks: while users are often not influential, they often know someone who is. Despite the various complexities in such optimization problems, we show that scalable adaptive seeding is achievable. In particular, we develop algorithms for linear influence models with provable approximation guarantees that can be gracefully parallelized. To show the effectiveness of our methods we collected data from various verticals social network users follow. For each vertical, we collected data on the users who responded to a certain post as well as their neighbors, and applied our methods on this data. Our experiments show that adaptive seeding is scalable, and importantly, that it obtains dramatic improvements over standard approaches of information dissemination.Comment: Full version of the paper appearing in WWW 201