Learning Deployable Navigation Policies at Kilometer Scale from a Single Traversal

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be prohibitively costly to obtain on robots in the real world. We present an approach for efficiently learning goal-directed navigation policies on a mobile robot, from only a single coverage traversal of recorded data. The navigation agent learns an effective policy over a diverse action space in a large heterogeneous environment consisting of more than 2km of travel, through buildings and outdoor regions that collectively exhibit large variations in visual appearance, self-similarity, and connectivity. We compare pretrained visual encoders that enable precomputation of visual embeddings to achieve a throughput of tens of thousands of transitions per second at training time on a commodity desktop computer, allowing agents to learn from millions of trajectories of experience in a matter of hours. We propose multiple forms of computationally efficient stochastic augmentation to enable the learned policy to generalise beyond these precomputed embeddings, and demonstrate successful deployment of the learned policy on the real robot without fine tuning, despite environmental appearance differences at test time. The dataset and code required to reproduce these results and apply the technique to other datasets and robots is made publicly available at rl-navigation.github.io/deployable

Timely Data Delivery in a Realistic Bus Network

Abstract—WiFi-enabled buses and stops may form the backbone of a metropolitan delay tolerant network, that exploits nearby communications, temporary storage at stops, and predictable bus mobility to deliver non-real time information. This paper studies the problem of how to route data from its source to its destination in order to maximize the delivery probability by a given deadline. We assume to know the bus schedule, but we take into account that randomness, due to road traffic conditions or passengers boarding and alighting, affects bus mobility. We propose a simple stochastic model for bus arrivals at stops, supported by a study of real-life traces collected in a large urban network. A succinct graph representation of this model allows us to devise an optimal (under our model) single-copy routing algorithm and then extend it to cases where several copies of the same data are permitted. Through an extensive simulation study, we compare the optimal routing algorithm with three other approaches: minimizing the expected traversal time over our graph, minimizing the number of hops a packet can travel, and a recently-proposed heuristic based on bus frequencies. Our optimal algorithm outperforms all of them, but most of the times it essentially reduces to minimizing the expected traversal time. For values of deadlines close to the expected delivery time, the multi-copy extension requires only 10 copies to reach almost the performance of the costly flooding approach. I

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