Papers.

An investigation of the vulnerabilities of scale invariant dynamics in large teams

Large heterogeneous teams in a variety of applications must make joint decisions using large volumes of noisy and uncertain data. Often not all team members have access to a sensor, relying instead on information shared by peers to make decisions. These sensors can become permanently corrupted through hardware failure or as a result of the actions of a malicious adversary. Previous work showed that when the trust between agents was tuned to a specific value the resulting dynamics of the system had a property called scale invariance which led to agents reaching highly accurate conclusion with little communication. In this paper we show that these dynamics also leave the system vulnerable to most agents coming to incorrect conclusions as a result of small amounts of anomalous information maliciously injected in the system. We conduct an analysis that shows that the efficiency of scale invariant dynamics is due to the fact that large number of agents can come to correct conclusions when the difference between the percentage of agents holding conflicting opinions is relatively small. Although this allows the system to come to correct conclusions quickly, it also means that it would be easy for an attacker with specific knowledge to tip the balance. We explore different methods for selecting which agents are Byzantine and when attacks are launched informed by the analysis. Our study reveals global system properties that can be used to predict when and where in the network the system is most vulnerable to attack. We use the results of this study to design an algorithm used by agents to effectively attack the network, informed by local estimates of the global properties revealed by our investigation.

Embedding System Dynamics in Agent Based Models for Complex Adaptive Systems

A Framework for Incorporating General Domain Knowledge into Latent Dirichlet Allocation Using First-Order Logic

Dominant Resource Fairness: Fair Allocation of Multiple Resource Types

We consider the problem of fair resource allocation in a system containing different resource types, where each user may have different demands for each resource. To address this problem, we propose Dominant Resource Fairness (DRF), a generalization of max-min fairness to multiple resource types. We show that DRF, unlike other possible policies, satisfies several highly desirable properties. First, DRF incentivizes users to share resources, by ensuring that no user is better off if resources are equally partitioned among them. Second, DRF is strategy-proof, as a user cannot increase her allocation by lying about her requirements. Third, DRF is envy-free, as no user would want to trade her allocation with that of another user. Finally, DRF allocations are Pareto efficient, as it is not possible to improve the allocation of a user without decreasing the allocation of another user. We have implemented DRF in the Mesos cluster resource manager, and show that it leads to better throughput and fairness than the slot-based fair sharing schemes in current cluster schedulers.

Mesos: A Platform for Fine-Grained Resource Sharing in the Data Center

We present Mesos, a platform for sharing commodity clusters between multiple diverse cluster computing frameworks, such as Hadoop and MPI. Sharing improves cluster utilization and avoids per-framework data replication. Mesos shares resources in a fine-grained manner, allowing frameworks to achieve data locality by taking turns reading data stored on each machine. To support the sophisticated schedulers of today’s frameworks, Mesos introduces a distributed two-level scheduling mechanism called resource offers. Mesos decides how many resources to offer each framework, while frameworks decide which resources to accept and which computations to run on them. Our results show that Mesos can achieve near-optimal data locality when sharing the cluster among diverse frameworks, can scale to 50,000 (emulated) nodes, and is resilient to failures.

Building-Blocks for Performance Oriented DSLs

Domain-specific languages raise the level of abstraction in software development. While it is evident that programmers can more easily reason about very high-level programs, the same holds for compilers only if the compiler has an accurate model of the application domain and the underlying target platform. Since mapping high-level, general-purpose languages to modern, heterogeneous hardware is becoming increasingly difficult, DSLs are an attractive way to capitalize on improved hardware performance, precisely by making the compiler reason on a higher level. Implementing efficient DSL compilers is a daunting task however, and support for building performance-oriented DSLs is urgently needed. To this end, we present the Delite Framework, an extensible toolkit that drastically simplifies building embedded DSLs and compiling DSL programs for execution on heterogeneous hardware. We discuss several building blocks in some detail and present experimental results for the OptiML machine-learning DSL implemented on top of Delite.

Hyperlink Networks

Intrusion Detection Algorithm for MANET

Web Usage Mining in Search Engines

Modeling the Diversity of User Behavior in Online Communities

Web Usage Mining in Search Engines

Future trends in business analytics and optimization

R&D Versus Acquisitions: Role of Diversification in the Choice of Innovation Strategy by Information Technology Firms

Examining the Costs of Producing Processing Snap Beans and Green Peas in New York State

Rapid Exploitation and Analysis of Documents

Analysts are overwhelmed with information. They have large archives of historical data, both structured and unstructured, and continuous streams of relevant messages and documents that they need to match to current tasks, digest, and incorporate into their analysis. The purpose of the READ project is to develop technologies to make it easier to catalog, classify, and locate relevant information. We approached this task from multiple angles. First, we tackle the issue of processing large quantities of information in reasonable time. Second, we provide mechanisms that allow users to customize their queries based on latent topics exposed from corpus statistics. Third, we assist users in organizing query results, adding localized expert structure over results. Forth, we use word sense disambiguation techniques to increase the precision of matching user generated keyword lists with terms and concepts in the corpus. Fifth, we enhance co-occurrence statistics with latent topic attribution, to aid entity relationship discovery. Finally we quantitatively analyze the quality of three popular latent modeling techniques to examine under which circumstances each is useful.

Accelerated Gibbs Sampling for Infinite Sparse Factor Analysis

Speech processing tools - an introduction to interoperability

Trends in Social Media: Persistence and Decay

Social media generates a prodigious wealth of real-time content at an incessant rate. From all the content that people create and share, only a few topics manage to attract enough attention to rise to the top and become temporal trends which are displayed to users.The question of what factors cause the formation and persistence of trends is an important one that has not been answered yet. In this paper, we conduct an intensive study of trending topics on Twitter and provide a theoretical basis for the formation, persistence and decay of trends. We find that the resonance of the content with the users of the social network plays a major role in causing trends. Also, we observe that a majority of the content propagated to cause trends arise from traditional media sources with social media acting as a selective amplifier for them.

Modeling Group Interactions via Open Data Sources

If You Like Radiohead, You Might Like This Article

Self-Aware Traffic Route Planning

One of the most ubiquitous AI applications is vehicle route planning. While state-of-the-art systems take into account current traffic conditions or historic traffic data, current planning approaches ignore the impact of their own plans on the future traffic conditions. We present a novel algorithm for self-aware route planning that uses the routes it plans for current vehicle traffic to more accurately predict future traffic conditions for subsequent cars. Our planner uses a roadmap with stochastic, time-varying traffic densities that are defined by a combination of historical data and the densities predicted by the planned routes for the cars ahead of the current traffic. We have applied our algorithm to large-scale traffic route planning, and demonstrated that our self-aware route planner can more accurately predict future traffic conditions, which results in a reduction of the travel time for those vehicles that use our algorithm.

Optimal Graph Search with Iterated Graph Cuts

Informed search algorithms such as A* use heuristics to focus exploration on states with low total path cost. To the extent that heuristics underestimate forward costs, a wider cost radius of suboptimal states will be explored. For many weighted graphs, however, a small distance in terms of cost may encompass a large fraction of the unweighted graph. We present a new informed search algorithm, Iterative Monotonically Bounded A* (IMBA*), which first proves that no optimal paths exist in a bounded cut of the graph before considering larger cuts. We prove that IMBA* has the same optimality and completeness guarantees as A* and, in a non-uniform pathfinding application, we empirically demonstrate substantial speed improvements over classic A*.

Anytime Nonparametric A*

Anytime variants of Dijkstra's and A* shortest path algorithms quickly produce a suboptimal solution and then improve it over time. For example, ARA* introduces a weighting value "epsilon" to rapidly find an initial suboptimal path and then reduces "epsilon" to improve path quality over time. In ARA*, "epsilon" is based on a linear trajectory with ad-hoc parameters chosen by each user. We propose a new Anytime A* algorithm, Anytime Nonparametric A* (ANA*), that does not require ad-hoc parameters, and adaptively reduces varepsilon to expand the most promising node per iteration, adapting the greediness of the search as path quality improves. We prove that each node expanded by ANA* provides an upper bound on the suboptimality of the current-best solution. We evaluate the performance of ANA* with experiments in the domains of robot motion planning, gridworld planning, and multiple sequence alignment. The results suggest that ANA* is as efficient as ARA* and in most cases: (1) ANA* finds an initial solution faster, (2) ANA* spends less time between solution improvements, (3) ANA* decreases the suboptimality bound of the current-best solution more gradually, and (4) ANA* finds the optimal solution faster. ANA* is freely available from Maxim Likhachev's Search-based Planning Library (SBPL).

Motion Planning Under Uncertainty In Highly Deformable Environments

Many tasks in robot-assisted surgery, food handling, manufacturing, and other applications require planning and controlling the motions of manipulators or other devices that must interact with highly deformable objects. We present a unified approach for motion planning under uncertainty in deformable environments that maximizes probability of success by accounting for uncertainty in deformation models, noisy sensing, and unpredictable actuation. Unlike prior planners that assume deterministic deformations or treat deformations as a type of small perturbation, our method explicitly considers the uncertainty in large, time-dependent deformations. Our method requires a simulator of deformable objects but places no significant restrictions on the simulator used. We use a sampling-based motion planner in conjunction with the simulator to generate a set of candidate plans based on expected deformations. Our method then uses the simulator and optimal control to numerically estimate time-dependent state distributions based on uncertain parameters (e.g. deformable material properties or actuation errors). We then select the plan with the highest estimated probability of successfully avoiding obstacles and reaching the goal region. Using FEM-based simulation of deformable tissues, we demonstrate the ability of our method to generate high quality plans in two medical-inspired scenarios: (1) guiding bevel-tip steerable needles through slices of deformable tissue around obstacles for minimally invasive biopsies and drug-delivery, and (2) manipulating planar tissues to align interior points at desired coordinates for precision treatment.

Heterogeneous representations in the superior parietal lobule are common across reaches to visual and proprioceptive targets

Recordings in the superior parietal lobule show heterogeneous, mixed reference-frame representations that are shared across reaches to visual and to proprioceptive targets, arguing against modality-specific coordinate frames.

CrowdDB

Tendències en recuperació d’informació a la web

Quantile-Parameterized Distributions

A geometric approach to robotic laundry folding

We consider the problem of autonomous robotic laundry folding, and propose a solution to the perception and manipulation challenges inherent to the task. At the core of our approach is a quasi-static cloth model which allows us to neglect the complex dynamics of cloth under significant parts of the state space, allowing us to reason instead in terms of simple geometry. We present an algorithm which, given a 2D cloth polygon and a desired sequence of folds, outputs a motion plan for executing the corresponding manipulations, deemed g-folds, on a minimal number of robot grippers. We define parametrized fold sequences for four clothing categories: towels, pants, short-sleeved shirts, and long-sleeved shirts, each represented as polygons. We then devise a model-based optimization approach for visually inferring the class and pose of a spread-out or folded clothing article from a single image, such that the resulting polygon provides a parse suitable for these folding primitives. We test the manipulation and perception tasks individually, and combine them to implement an autonomous folding system on the Willow Garage PR2. This enables the PR2 to identify a clothing article spread out on a table, execute the computed folding sequence, and visually track its progress over successive folds.

LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information

In this paper we present LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will be used during the execution of the robot’s path. LQG-MP is based on the linear-quadratic controller with Gaussian models of uncertainty, and explicitly characterizes in advance (i.e. before execution) the a priori probability distributions of the state of the robot along its path. These distributions can be used to assess the quality of the path, for instance by computing the probability of avoiding collisions. Many methods can be used to generate the required ensemble of candidate paths from which the best path is selected; in this paper we report results using rapidly exploring random trees (RRT). We study the performance of LQG-MP with simulation experiments in three scenarios: (A) a kinodynamic car-like robot, (B) multi-robot planning with differential-drive robots, and (C) a 6-DOF serial manipulator. We also present a method that applies Kalman smoothing to make paths C k -continuous and apply LQG-MP to precomputed roadmaps using a variant of Dijkstra’s algorithm to efficiently find high-quality paths.

A Critical Review of Li/Air Batteries

GPFS-SNC: An Enterprise Storage Framework for Virtual-Machine Clouds

Session details: Session 3

Modeling with Hadoop

A domain specific language for enterprise grade cloud-mobile hybrid applications

Cloud computing has changed the technology landscape by offering flexible and economical computing resources to the masses. However, vendor lock-in makes the migration of applications and data across clouds an expensive proposition. The lock-in is especially serious when considering the new technology trend of combining cloud with mobile devices.

Collaborative virtual rehabilitation system with home treatment integration

Tribler

Programming micro-aerial vehicle swarms with karma

Enhancing accessibility of microblogging messages using semantic knowledge

A peer's-eye view

Large-scale behavioral targeting with a social twist

Liszt: a domain specific language for building portable mesh-based PDE solvers

Liszt is a domain-specific language for building portable mesh-based PDE solvers; programs written in Liszt are compiled to run efficiently on clusters, SMPs and GPUs from a single source.

WOMRAD

Music recommendation and discovery revisited

Automatic management of partitioned, replicated search services

Low-latency, high-throughput web services are typically achieved through partitioning, replication, and caching. Although these strategies and the general design of large-scale distributed search systems are well known, the academic literature provides surprisingly few details on deployment and operational considerations in production environments. In this paper, we address this gap by sharing the distributed search architecture that underlies Twitter user search, a service for discovering relevant accounts on the popular microblogging service. Our design makes use of the principle that eliminates the distinction between failure and other anticipated service disruptions: as a result, most operational scenarios share exactly the same code path. This simplicity leads to greater robustness and fault-tolerance. Another salient feature of our architecture is its exclusive reliance on open-source software components, which makes it easier for the community to learn from our experiences and replicate our findings.

Video presentation of Functor : Lens :: Applicative : Biplate

Group Profiling for Understanding Social Structures

Dimetrodon

Latent topic feedback for information retrieval

Design space analysis for modeling incentives in distributed systems