Sampling Online Social Networks via Heterogeneous Statistics

Most sampling techniques for online social networks (OSNs) are based on a particular sampling method on a single graph, which is referred to as a statistics. However, various realizing methods on different graphs could possibly be used in the same OSN, and they may lead to different sampling efficiencies, i.e., asymptotic variances. To utilize multiple statistics for accurate measurements, we formulate a mixture sampling problem, through which we construct a mixture unbiased estimator which minimizes asymptotic variance. Given fixed sampling budgets for different statistics, we derive the optimal weights to combine the individual estimators; given fixed total budget, we show that a greedy allocation towards the most efficient statistics is optimal. In practice, the sampling efficiencies of statistics can be quite different for various targets and are unknown before sampling. To solve this problem, we design a two-stage framework which adaptively spends a partial budget to test different statistics and allocates the remaining budget to the inferred best statistics. We show that our two-stage framework is a generalization of 1) randomly choosing a statistics and 2) evenly allocating the total budget among all available statistics, and our adaptive algorithm achieves higher efficiency than these benchmark strategies in theory and experiment

Stochastic Modeling of Hybrid Cache Systems

In recent years, there is an increasing demand of big memory systems so to perform large scale data analytics. Since DRAM memories are expensive, some researchers are suggesting to use other memory systems such as non-volatile memory (NVM) technology to build large-memory computing systems. However, whether the NVM technology can be a viable alternative (either economically and technically) to DRAM remains an open question. To answer this question, it is important to consider how to design a memory system from a "system perspective", that is, incorporating different performance characteristics and price ratios from hybrid memory devices. This paper presents an analytical model of a "hybrid page cache system" so to understand the diverse design space and performance impact of a hybrid cache system. We consider (1) various architectural choices, (2) design strategies, and (3) configuration of different memory devices. Using this model, we provide guidelines on how to design hybrid page cache to reach a good trade-off between high system throughput (in I/O per sec or IOPS) and fast cache reactivity which is defined by the time to fill the cache. We also show how one can configure the DRAM capacity and NVM capacity under a fixed budget. We pick PCM as an example for NVM and conduct numerical analysis. Our analysis indicates that incorporating PCM in a page cache system significantly improves the system performance, and it also shows larger benefit to allocate more PCM in page cache in some cases. Besides, for the common setting of performance-price ratio of PCM, "flat architecture" offers as a better choice, but "layered architecture" outperforms if PCM write performance can be significantly improved in the future.Comment: 14 pages; mascots 201

A Novel Method for the Absolute Pose Problem with Pairwise Constraints

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed dimensionality d and the number of measurements N, a robust estimation problem cannot be solved faster than O(N^d). Furthermore, it is almost impossible to remove d from the exponent of the runtime of a globally optimal algorithm. However, absolute pose estimation is a geometric parameter estimation problem, and thus has special constraints. In this paper, we consider pairwise constraints and propose a globally optimal algorithm for solving the absolute pose estimation problem. The proposed algorithm has a linear complexity in the number of correspondences at a given outlier ratio. Concretely, we first decouple the rotation and the translation subproblems by utilizing the pairwise constraints, and then we solve the rotation subproblem using the branch-and-bound algorithm. Lastly, we estimate the translation based on the known rotation by using another branch-and-bound algorithm. The advantages of our method are demonstrated via thorough testing on both synthetic and real-world dataComment: 10 pages, 7figure

Learning task-oriented dexterous grasping from human knowledge

Industrial automation requires robot dexterity to automate many processes such as product assembling, packaging, and material handling. The existing robotic systems lack the capability to determining proper grasp strategies in the context of object affordances and task designations. In this paper, a framework of task-oriented dexterous grasping is proposed to learn grasp knowledge from human experience and to deploy the grasp strategies while adapting to grasp context. Grasp topology is defined and grasp strategies are learned from an established dataset for task-oriented dexterous manipulation. To adapt to various grasp context, a reinforcement-learning based grasping policy was implement to deploy different task-oriented strategies. The performances of the system was evaluated in a simulated grasping environment by using an AR10 anthropomorphic hand installed in a Sawyer robotic arm. The proposed framework achieved a hit rate of 100% for grasp strategies and an overall top-3 match rate of 95.6%. The success rate of grasping was 85.6% during 2700 grasping experiments for manipulation tasks given in natural-language instructions

Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%