arXiv subjects

Aviv Adler

Publications and source records attributed to Aviv Adler.

11 recordsLinked to original sources

arXiv2026

Synchronizing Probabilities in Model-Driven Lossless Compression

It is well-known in the field of lossless data compression that probabilistic next-symbol prediction can be used to compress sequences of symbols. Deep neural networks are able to capture rich dependencies in data, offering a powerful means of estimating these probabilities and hence an avenue towards more effective compression algorithms. However, both compressor and decompressor must have exactly matching predictions; even small differences from non-determinism (which often happen with learned models due to hardware, software, or computation order) can lead to cascading decoding failures. In this paper, we formalize the problem of prediction mismatch in model-driven compression, and introduce Probability Matching Interval Coding (PMATIC), a model-agnostic algorithm that tolerates bounded prediction mismatch with low overhead. PMATIC works with the predicted probabilities, making it compatible as a drop-in replacement for the arithmetic encoder in model-driven compression tools. We show theoretical correctness and performance bounds for PMATIC, and validate these results on text data. These results confirm that, when paired an advanced prediction model, PMATIC is robust to prediction mismatch while achieving compression rates that out-perform standard modern compression tools.

cs.IT↗

arXiv2023

Efficient Representation of Large-Alphabet Probability Distributions

A number of engineering and scientific problems require representing and manipulating probability distributions over large alphabets, which we may think of as long vectors of reals summing to $1$. In some cases it is required to represent such a vector with only $b$ bits per entry. A natural choice is to partition the interval $[0,1]$ into $2^b$ uniform bins and quantize entries to each bin independently. We show that a minor modification of this procedure -- applying an entrywise non-linear function (compander) $f(x)$ prior to quantization -- yields an extremely effective quantization method. For example, for $b=8 (16)$ and $10^5$-sized alphabets, the quality of representation improves from a loss (under KL divergence) of $0.5 (0.1)$ bits/entry to $10^{-4} (10^{-9})$ bits/entry. Compared to floating point representations, our compander method improves the loss from $10^{-1}(10^{-6})$ to $10^{-4}(10^{-9})$ bits/entry. These numbers hold for both real-world data (word frequencies in books and DNA $k$-mer counts) and for synthetic randomly generated distributions. Theoretically, we set up a minimax optimality criterion and show that the compander $f(x) ~\propto~ \mathrm{ArcSinh}(\sqrt{(1/2) (K \log K) x})$ achieves near-optimal performance, attaining a KL-quantization loss of $\asymp 2^{-2b} \log^2 K$ for a $K$-letter alphabet and $b\to \infty$. Interestingly, a similar minimax criterion for the quadratic loss on the hypercube shows optimality of the standard uniform quantizer. This suggests that the $\mathrm{ArcSinh}$ quantizer is as fundamental for KL-distortion as the uniform quantizer for quadratic distortion.

cs.IT↗

arXiv2023

Estimating True Beliefs in Opinion Dynamics with Social Pressure

Social networks often exert social pressure, causing individuals to adapt their expressed opinions to conform to their peers. An agent in such systems can be modeled as having a (true and unchanging) inherent belief while broadcasting a declared opinion at each time step based on her inherent belief and the past declared opinions of her neighbors. An important question in this setting is parameter estimation: how to disentangle the effects of social pressure to estimate inherent beliefs from declared opinions. This is useful for forecasting when agents' declared opinions are influenced by social pressure while real-world behavior only depends on their inherent beliefs. To address this, Jadbabaie et al. formulated the Interacting P\'olya Urn model of opinion dynamics under social pressure and studied it on complete-graph social networks using an aggregate estimator, and found that their estimator converges to the inherent beliefs unless majority pressure pushes the network to consensus. In this work, we studythis model on arbitrary networks, providing an estimator which converges to the inherent beliefs even in consensus situations. Finally, we bound the convergence rate of our estimator in both consensus and non-consensus scenarios; to get the bound for consensus scenarios (which converge slower than non-consensus) we additionally found how quickly the system converges to consensus.

eess.SY↗

arXiv2023

The Teenager's Problem: Efficient Garment Decluttering as Probabilistic Set Cover

This paper addresses the "Teenager's Problem": efficiently removing scattered garments from a planar surface into a basket. As grasping and transporting individual garments is highly inefficient, we propose policies to select grasp locations for multiple garments using an overhead camera. Our core approach is segment-based, which uses segmentation on the overhead RGB image of the scene. We propose a Probabilistic Set Cover formulation of the problem, aiming to minimize the number of grasps that clear all garments off the surface. Grasp efficiency is measured by Objects per Transport (OpT), which denotes the average number of objects removed per trip to the laundry basket. Additionally, we explore several depth-based methods, which use overhead depth data to find efficient grasps. Experiments suggest that our segment-based method increases OpT by $50\%$ over a random baseline, whereas combined hybrid methods yield improvements of $33\%$. Finally, a method employing consolidation (with segmentation) is considered, which locally moves the garments on the work surface to increase OpT, when the distance to the basket is much greater than the local motion distances. This yields an improvement of $81\%$ over the baseline.

cs.RO↗

arXiv2023

Stochastic Opinion Dynamics under Social Pressure in Arbitrary Networks

Social pressure is a key factor affecting the evolution of opinions on networks in many types of settings, pushing people to conform to their neighbors' opinions. To study this, the interacting Polya urn model was introduced by Jadbabaie et al., in which each agent has two kinds of opinion: inherent beliefs, which are hidden from the other agents and fixed; and declared opinions, which are randomly sampled at each step from a distribution which depends on the agent's inherent belief and her neighbors' past declared opinions (the social pressure component), and which is then communicated to her neighbors. Each agent also has a bias parameter denoting her level of resistance to social pressure. At every step, each agent updates her declared opinion (simultaneously with all other agents) according to her neighbors' aggregate past declared opinions, her inherent belief, and her bias parameter. We study the asymptotic behavior of this opinion dynamics model and show that the agents' declaration probabilities approaches a set of equilibrium points of the expected dynamics using Lyapunov theory and stochastic approximation techniques. We also derive necessary and sufficient conditions for the agents to approach consensus on their declared opinions. Our work provides further insight into the difficulty of inferring the inherent beliefs of agents when they are under social pressure.

eess.SY↗

arXiv2023

Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping

Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can improve efficiency by increasing the average number of objects grasped per trip (OpT). However, grasping multiple objects requires the objects to be aligned and in close proximity. In this work, we propose Push-MOG, an algorithm that computes "fork pushing" actions using a parallel-jaw gripper to create graspable object clusters. In physical decluttering experiments, we find that Push-MOG enables multi-object grasps, increasing the average OpT by 34%. Code and videos will be available at https://sites.google.com/berkeley.edu/push-mog.

cs.RO↗

arXiv2023

This Game Is Not Going To Analyze Itself

We analyze the puzzle video game This Game Is Not Going To Load Itself, where the player routes data packets of three different colors from given sources to given sinks of the correct color. Given the sources, sinks, and some previously placed arrow tiles, we prove that the game is in Sigma_2^P; in NP for sources of equal period; NP-complete for three colors and six equal-period sources with player input; and even without player input, simulating the game is both NP- and coNP-hard for two colors and many sources with different periods. On the other hand, we characterize which locations for three data sinks admit a perfect placement of arrow tiles that guarantee correct routing no matter the placement of the data sources, effectively solving most instances of the game as it is normally played.

cs.CC↗

arXiv2023

Agility and Target Distribution in the Dynamic Stochastic Traveling Salesman Problem

An important variant of the classic Traveling Salesman Problem (TSP) is the Dynamic TSP, in which a system with dynamic constraints is tasked with visiting a set of n target locations (in any order) in the shortest amount of time. Such tasks arise naturally in many robotic motion planning problems, particularly in exploration, surveillance and reconnaissance, and classical TSP algorithms on graphs are typically inapplicable in this setting. An important question about such problems is: if the target points are random, what is the length of the tour (either in expectation or as a concentration bound) as n grows? This problem is the Dynamic Stochastic TSP (DSTSP), and has been studied both for specific important vehicle models and for general dynamic systems; however, in general only the order of growth is known. In this work, we explore the connection between the distribution from which the targets are drawn and the dynamics of the system, yielding a more precise lower bound on tour length as well as a matching upper bound for the case of symmetric (or driftless) systems. We then extend the symmetric dynamics results to the case when the points are selected by a (non-random) adversary whose goal is to maximize the length, thus showing worst-case bounds on the tour length.

cs.RO↗

arXiv2022

The Role of Heterogeneity in Autonomous Perimeter Defense Problems

When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.

cs.MA↗

arXiv2020

Tatamibari is NP-complete

In the Nikoli pencil-and-paper game Tatamibari, a puzzle consists of an $m \times n$ grid of cells, where each cell possibly contains a clue among +, -, |. The goal is to partition the grid into disjoint rectangles, where every rectangle contains exactly one clue, rectangles containing + are square, rectangles containing - are strictly longer horizontally than vertically, rectangles containing | are strictly longer vertically than horizontally, and no four rectangles share a corner. We prove this puzzle NP-complete, establishing a Nikoli gap of 16 years. Along the way, we introduce a gadget framework for proving hardness of similar puzzles involving area coverage, and show that it applies to an existing NP-hardness proof for Spiral Galaxies. We also present a mathematical puzzle font for Tatamibari.

cs.CC↗

arXiv2015

Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons

We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multi-robot motion-planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard.

cs.CG↗