arXiv subjects

Felipe Frujeri

Publications and source records attributed to Felipe Frujeri.

5 recordsLinked to original sources

arXiv2022

PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pre-Training

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language models, this work introduces a paradigm for pre-training a general purpose representation that can serve as a starting point for multiple tasks on a given robot. We present the Perception-Action Causal Transformer (PACT), a generative transformer-based architecture that aims to build representations directly from robot data in a self-supervised fashion. Through autoregressive prediction of states and actions over time, our model implicitly encodes dynamics and behaviors for a particular robot. Our experimental evaluation focuses on the domain of mobile agents, where we show that this robot-specific representation can function as a single starting point to achieve distinct tasks such as safe navigation, localization and mapping. We evaluate two form factors: a wheeled robot that uses a LiDAR sensor as perception input (MuSHR), and a simulated agent that uses first-person RGB images (Habitat). We show that finetuning small task-specific networks on top of the larger pretrained model results in significantly better performance compared to training a single model from scratch for all tasks simultaneously, and comparable performance to training a separate large model for each task independently. By sharing a common good-quality representation across tasks we can lower overall model capacity and speed up the real-time deployment of such systems.

cs.RO↗

arXiv2022

Hindsight Learning for MDPs with Exogenous Inputs

Many resource management problems require sequential decision-making under uncertainty, where the only uncertainty affecting the decision outcomes are exogenous variables outside the control of the decision-maker. We model these problems as Exo-MDPs (Markov Decision Processes with Exogenous Inputs) and design a class of data-efficient algorithms for them termed Hindsight Learning (HL). Our HL algorithms achieve data efficiency by leveraging a key insight: having samples of the exogenous variables, past decisions can be revisited in hindsight to infer counterfactual consequences that can accelerate policy improvements. We compare HL against classic baselines in the multi-secretary and airline revenue management problems. We also scale our algorithms to a business-critical cloud resource management problem -- allocating Virtual Machines (VMs) to physical machines, and simulate their performance with real datasets from a large public cloud provider. We find that HL algorithms outperform domain-specific heuristics, as well as state-of-the-art reinforcement learning methods.

cs.LG↗

arXiv2022

The Sandbox Environment for Generalizable Agent Research (SEGAR)

A broad challenge of research on generalization for sequential decision-making tasks in interactive environments is designing benchmarks that clearly landmark progress. While there has been notable headway, current benchmarks either do not provide suitable exposure nor intuitive control of the underlying factors, are not easy-to-implement, customizable, or extensible, or are computationally expensive to run. We built the Sandbox Environment for Generalizable Agent Research (SEGAR) with all of these things in mind. SEGAR improves the ease and accountability of generalization research in RL, as generalization objectives can be easy designed by specifying task distributions, which in turns allows the researcher to measure the nature of the generalization objective. We present an overview of SEGAR and how it contributes to these goals, as well as experiments that demonstrate a few types of research questions SEGAR can help answer.

cs.LG↗

arXiv2021

Towards a Cost vs. Quality Sweet Spot for Monitoring Networks

Continuously monitoring a wide variety of performance and fault metrics has become a crucial part of operating large-scale datacenter networks. In this work, we ask whether we can reduce the costs to monitor -- in terms of collection, storage and analysis -- by judiciously controlling how much and which measurements we collect. By positing that we can treat almost all measured signals as sampled time-series, we show that we can use signal processing techniques such as the Nyquist-Shannon theorem to avoid wasteful data collection. We show that large savings appear possible by analyzing tens of popular measurements from a production datacenter network. We also discuss the technical challenges that must be solved when applying these techniques in practice.

cs.NI↗

arXiv2020

Prediction-Based Power Oversubscription in Cloud Platforms

Datacenter designers rely on conservative estimates of IT equipment power draw to provision resources. This leaves resources underutilized and requires more datacenters to be built. Prior work has used power capping to shave the rare power peaks and add more servers to the datacenter, thereby oversubscribing its resources and lowering capital costs. This works well when the workloads and their server placements are known. Unfortunately, these factors are unknown in public clouds, forcing providers to limit the oversubscription so that performance is never impacted. In this paper, we argue that providers can use predictions of workload performance criticality and virtual machine (VM) resource utilization to increase oversubscription. This poses many challenges, such as identifying the performance-critical workloads from black-box VMs, creating support for criticality-aware power management, and increasing oversubscription while limiting the impact of capping. We address these challenges for the hardware and software infrastructures of Microsoft Azure. The results show that we enable a 2x increase in oversubscription with minimum impact to critical workloads.

cs.DC↗