Squish: Near-Optimal Compression for Archival of Relational Datasets

Relational datasets are being generated at an alarmingly rapid rate across organizations and industries. Compressing these datasets could significantly reduce storage and archival costs. Traditional compression algorithms, e.g., gzip, are suboptimal for compressing relational datasets since they ignore the table structure and relationships between attributes. We study compression algorithms that leverage the relational structure to compress datasets to a much greater extent. We develop Squish, a system that uses a combination of Bayesian Networks and Arithmetic Coding to capture multiple kinds of dependencies among attributes and achieve near-entropy compression rate. Squish also supports user-defined attributes: users can instantiate new data types by simply implementing five functions for a new class interface. We prove the asymptotic optimality of our compression algorithm and conduct experiments to show the effectiveness of our system: Squish achieves a reduction of over 50% in storage size relative to systems developed in prior work on a variety of real datasets.

Near-Optimal Massively Parallel Graph Connectivity

Identifying the connected components of a graph, apart from being a fundamental problem with countless applications, is a key primitive for many other algorithms. In this paper, we consider this problem in parallel settings. Particularly, we focus on the Massively Parallel Computations (MPC) model, which is the standard theoretical model for modern parallel frameworks such as MapReduce, Hadoop, or Spark. We consider the truly sublinear regime of MPC for graph problems where the space per machine is $n^delta$ for some desirably small constant $delta in (0, 1)$. We present an algorithm that for graphs with diameter $D$ in the wide range $[log^{epsilon} n, n]$, takes $O(log D)$ rounds to identify the connected components and takes $O(log log n)$ rounds for all other graphs. The algorithm is randomized, succeeds with high probability, does not require prior knowledge of $D$, and uses an optimal total space of $O(m)$. We complement this by showing a conditional lower-bound based on the widely believed TwoCycle conjecture that $Omega(log D)$ rounds are indeed necessary in this setting. Studying parallel connectivity algorithms received a resurgence of interest after the pioneering work of Andoni et al. [FOCS 2018] who presented an algorithm with $O(log D cdot log log n)$ round-complexity. Our algorithm improves this result for the whole range of values of $D$ and almost settles the problem due to the conditional lower-bound. Additionally, we show that with minimal adjustments, our algorithm can also be implemented in a variant of the (CRCW) PRAM in asymptotically the same number of rounds.

A Near-Optimal Algorithm for Stochastic Bilevel Optimization via Double-Momentum

This paper proposes a new algorithm -- the underline{S}ingle-timescale Dounderline{u}ble-momentum underline{St}ochastic underline{A}pproxunderline{i}matiounderline{n} (SUSTAIN) -- for tackling stochastic unconstrained bilevel optimization problems. We focus on bilevel problems where the lower level subproblem is strongly-convex and the upper level objective function is smooth. Unlike prior works which rely on emph{two-timescale} or emph{double loop} techniques, we design a stochastic momentum-assisted gradient estimator for both the upper and lower level updates. The latter allows us to control the error in the stochastic gradient updates due to inaccurate solution to both subproblems. If the upper objective function is smooth but possibly non-convex, we show that {aname}~requires $mathcal{O}(epsilon^{-3/2})$ iterations (each using ${cal O}(1)$ samples) to find an $epsilon$-stationary solution. The $epsilon$-stationary solution is defined as the point whose squared norm of the gradient of the outer function is less than or equal to $epsilon$. The total number of stochastic gradient samples required for the upper and lower level objective functions matches the best-known complexity for single-level stochastic gradient algorithms. We also analyze the case when the upper level objective function is strongly-convex.

Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm

To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys constraints like the robots dynamics and obstacle avoidance; it should have liveness, meaning the robot does not stop to plan so frequently that it cannot accomplish tasks; and it should be optimal, meaning that the robot tries to satisfy a user-specified cost function such as reaching a goal location as quickly as possible. Reachability-based Trajectory Design (RTD) is a planning method that can generate provably dynamically-feasible plans. However, RTD solves a nonlinear polynmial optimization program at each planning iteration, preventing optimality guarantees; furthermore, RTD can struggle with liveness because the robot must brake to a stop when the solver finds local minima or cannot find a feasible solution. This paper proposes RTD*, which certifiably finds the globally optimal plan (if such a plan exists) at each planning iteration. This method is enabled by a novel Parallelized Constrained Bernstein Algorithm (PCBA), which is a branch-and-bound method for polynomial optimization. The contributions of this paper are: the implementation of PCBA; proofs of bounds on the time and memory usage of PCBA; a comparison of PCBA to state of the art solvers; and the demonstration of PCBA/RTD* on a mobile robot. RTD* outperforms RTD in terms of optimality and liveness for real-time planning in a variety of environments with randomly-placed obstacles.

Optimal (Randomized) Parallel Algorithms in the Binary-Forking Model

In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range minima, and ordered set union, intersection and difference. In the binary-forking model, tasks can only fork into two child tasks, but can do so recursively and asynchronously. The tasks share memory, supporting reads, writes and test-and-sets. Costs are measured in terms of work (total number of instructions), and span (longest dependence chain). The binary-forking model is meant to capture both algorithm performance and algorithm-design considerations on many existing multithreaded languages, which are also asynchronous and rely on binary forks either explicitly or under the covers. In contrast to the widely studied PRAM model, it does not assume arbitrary-way forks nor synchronous operations, both of which are hard to implement in modern hardware. While optimal PRAM algorithms are known for the problems studied herein, it turns out that arbitrary-way forking and strict synchronization are powerful, if unrealistic, capabilities. Natural simulations of these PRAM algorithms in the binary-forking model (i.e., implementations in existing parallel languages) incur an $Omega(log n)$ overhead in span. This paper explores techniques for designing optimal algorithms when limited to binary forking and assuming asynchrony. All algorithms described in this paper are the first algorithms with optimal work and span in the binary-forking model. Most of the algorithms are simple. Many are randomized.