arXiv subjects

Mihir Patel

Publications and source records attributed to Mihir Patel.

6 recordsLinked to original sources

arXiv2026

Pivot-and-Station Multi-Agent Path Finding: Solvability, Complexity, and Algorithms

Automated high-density storage systems (warehouses, robotic parking, plant logistics, etc.) require fleets of agents to move through scarce task-critical resources and then park without obstructing future operations. We introduce Pivot-and-Station Multi-Agent Path Finding (PS-MAPF), a MAPF variant in which a subset of tasked agents must each visit one of a set of interchangeable pivots (e.g., workstations) before the entire fleet terminates at anonymous stations, one agent per station. We characterize solvability completely: every instance on a 2-edge-connected graph is solvable, and, on arbitrary connected graphs, a structural effective-distance measure relative to the number of unoccupied vertices gives a necessary and sufficient condition. We prove that minimizing station-makespan or station-flowtime is NP-hard already with a single pivot. We present three algorithms, a complete baseline, a SAT-based optimal solver, and Pivot-Prioritized Planning (PPP), the last solving 74-89% of benchmark instances with makespan and flowtime orders of magnitude below the baseline.

cs.AI↗

arXiv2026

AIReSim: A Discrete Event Simulator for Large-scale AI Cluster Reliability Modeling

Failures in clusters running large-scale AI workloads can result in decreased utilization. Because the cost of a failure in such AI workloads is high (as it requires restarting the entire job from a previous checkpoint), there are many mechanisms in place to ensure that the failures are mitigated, and the impact of a failure is minimized. However, these mechanisms have many knobs and parameters, all of which must be carefully tuned based on the system and cluster's characteristics. We built AIReSim, a discrete event simulator to evaluate the different design choices during the failure, recovery, scheduling and repair processes for a cluster running a large-scale AI workload. AIReSim allows the system designer to systematically evaluate the effects of the different knobs and parameters on the overall end-to-end reliability of the system. Further, AIReSim can be used to identify which knobs or parameters are important in order to prioritize the investment of effort in improving the system. AIReSim also allows tuning of the knobs for achieving different tradeoffs in the system, as well as to consider various ``what-if'' scenarios. We present a case study of applying AIReSim for capacity planning for large-scale clusters running AI workloads.

cs.DC↗

arXiv2025

Equalizing Closeness Centralities via Edge Additions

Graph modification problems with the goal of optimizing some measure of a given node's network position have a rich history in the algorithms literature. Less commonly explored are modification problems with the goal of equalizing positions, though this class of problems is well-motivated from the perspective of equalizing social capital, i.e., algorithmic fairness. In this work, we study how to add edges to make the closeness centralities of a given pair of nodes more equal. We formalize two versions of this problem: Closeness Ratio Improvement, which aims to maximize the ratio of closeness centralities between two specified nodes, and Closeness Gap Minimization, which aims to minimize the absolute difference of centralities. We show that both problems are $\textsf{NP}$-hard, and for Closeness Ratio Improvement we present a quasilinear-time $\frac{6}{11}$-approximation, complemented by a bicriteria inapproximability bound. In contrast, we show that Closeness Gap Minimization admits no multiplicative approximation unless $\textsf{P} = \textsf{NP}$. We conclude with a discussion of open directions for this style of problem, including several natural generalizations.

cs.DS↗

arXiv2023

CommonCanvas: An Open Diffusion Model Trained with Creative-Commons Images

We assemble a dataset of Creative-Commons-licensed (CC) images, which we use to train a set of open diffusion models that are qualitatively competitive with Stable Diffusion 2 (SD2). This task presents two challenges: (1) high-resolution CC images lack the captions necessary to train text-to-image generative models; (2) CC images are relatively scarce. In turn, to address these challenges, we use an intuitive transfer learning technique to produce a set of high-quality synthetic captions paired with curated CC images. We then develop a data- and compute-efficient training recipe that requires as little as 3% of the LAION-2B data needed to train existing SD2 models, but obtains comparable quality. These results indicate that we have a sufficient number of CC images (~70 million) for training high-quality models. Our training recipe also implements a variety of optimizations that achieve ~3X training speed-ups, enabling rapid model iteration. We leverage this recipe to train several high-quality text-to-image models, which we dub the CommonCanvas family. Our largest model achieves comparable performance to SD2 on a human evaluation, despite being trained on our CC dataset that is significantly smaller than LAION and using synthetic captions for training. We release our models, data, and code at https://github.com/mosaicml/diffusion/blob/main/assets/common-canvas.md

cs.CV↗

arXiv2021

JRDB: A Dataset and Benchmark of Egocentric Robot Visual Perception of Humans in Built Environments

We present JRDB, a novel egocentric dataset collected from our social mobile manipulator JackRabbot. The dataset includes 64 minutes of annotated multimodal sensor data including stereo cylindrical 360$^\circ$ RGB video at 15 fps, 3D point clouds from two Velodyne 16 Lidars, line 3D point clouds from two Sick Lidars, audio signal, RGB-D video at 30 fps, 360$^\circ$ spherical image from a fisheye camera and encoder values from the robot's wheels. Our dataset incorporates data from traditionally underrepresented scenes such as indoor environments and pedestrian areas, all from the ego-perspective of the robot, both stationary and navigating. The dataset has been annotated with over 2.3 million bounding boxes spread over 5 individual cameras and 1.8 million associated 3D cuboids around all people in the scenes totaling over 3500 time consistent trajectories. Together with our dataset and the annotations, we launch a benchmark and metrics for 2D and 3D person detection and tracking. With this dataset, which we plan on extending with further types of annotation in the future, we hope to provide a new source of data and a test-bench for research in the areas of egocentric robot vision, autonomous navigation, and all perceptual tasks around social robotics in human environments.

cs.CV↗

arXiv2020

JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset

Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion should be perceived in 3D Cartesian space. However, most recent multi-object tracking (MOT) research has focused on tracking people and moving objects in 2D RGB video sequences. In this work we present JRMOT, a novel 3D MOT system that integrates information from RGB images and 3D point clouds to achieve real-time, state-of-the-art tracking performance. Our system is built with recent neural networks for re-identification, 2D and 3D detection and track description, combined into a joint probabilistic data-association framework within a multi-modal recursive Kalman architecture. As part of our work, we release the JRDB dataset, a novel large scale 2D+3D dataset and benchmark, annotated with over 2 million boxes and 3500 time consistent 2D+3D trajectories across 54 indoor and outdoor scenes. JRDB contains over 60 minutes of data including 360 degree cylindrical RGB video and 3D pointclouds in social settings that we use to develop, train and evaluate JRMOT. The presented 3D MOT system demonstrates state-of-the-art performance against competing methods on the popular 2D tracking KITTI benchmark and serves as first 3D tracking solution for our benchmark. Real-robot tests on our social robot JackRabbot indicate that the system is capable of tracking multiple pedestrians fast and reliably. We provide the ROS code of our tracker at https://sites.google.com/view/jrmot.

cs.CV↗