arXiv subjects

Yan Gu

Publications and source records attributed to Yan Gu.

At least 55 records · Page 3Linked to original sources

arXiv2024

Parallel and (Nearly) Work-Efficient Dynamic Programming

The idea of dynamic programming (DP), proposed by Bellman in the 1950s, is one of the most important algorithmic techniques. However, in parallel, many fundamental and sequentially simple problems become more challenging, and open to a (nearly) work-efficient solution (i.e., the work is off by at most a polylogarithmic factor over the best sequential solution). In fact, sequential DP algorithms employ many advanced optimizations such as decision monotonicity or special data structures, and achieve better work than straightforward solutions. Many such optimizations are inherently sequential, which creates extra challenges for a parallel algorithm to achieve the same work bound. The goal of this paper is to achieve (nearly) work-efficient parallel DP algorithms by parallelizing classic, highly-optimized and practical sequential algorithms. We show a general framework called the Cordon Algorithm for parallel DP algorithms, and use it to solve several classic problems. Our selection of problems includes Longest Increasing Subsequence (LIS), sparse Longest Common Subsequence (LCS), convex/concave generalized Least Weight Subsequence (LWS), Optimal Alphabetic Tree (OAT), and more. We show how the Cordon Algorithm can be used to achieve the same level of optimization as the sequential algorithms, and achieve good parallelism. Many of our algorithms are conceptually simple, and we show some experimental results as proofs-of-concept.

cs.DS↗

arXiv2024

Optimal Parallel Algorithms for Dendrogram Computation and Single-Linkage Clustering

Computing a Single-Linkage Dendrogram (SLD) is a key step in the classic single-linkage hierarchical clustering algorithm. Given an input edge-weighted tree $T$, the SLD of $T$ is a binary dendrogram that summarizes the $n-1$ clusterings obtained by contracting the edges of $T$ in order of weight. Existing algorithms for computing the SLD all require $Ω(n\log n)$ work where $n = |T|$. Furthermore, to the best of our knowledge no prior work provides a parallel algorithm obtaining non-trivial speedup for this problem. In this paper, we design faster parallel algorithms for computing SLDs both in theory and in practice based on new structural results about SLDs. In particular, we obtain a deterministic output-sensitive parallel algorithm based on parallel tree contraction that requires $O(n \log h)$ work and $O(\log^2 n \log^2 h)$ depth, where $h$ is the height of the output SLD. We also give a deterministic bottom-up algorithm for the problem inspired by the nearest-neighbor chain algorithm for hierarchical agglomerative clustering, and show that it achieves $O(n\log h)$ work and $O(h \log n)$ depth. Our results are based on a novel divide-and-conquer framework for building SLDs, inspired by divide-and-conquer algorithms for Cartesian trees. Our new algorithms can quickly compute the SLD on billion-scale trees, and obtain up to 150x speedup over the highly-efficient Union-Find algorithm typically used to compute SLDs in practice.

cs.DS↗

arXiv2024

PASGAL: Parallel And Scalable Graph Algorithm Library

In this paper, we introduce PASGAL (Parallel And Scalable Graph Algorithm Library), a parallel graph library that scales to a variety of graph types, many processors, and large graph sizes. One special focus of PASGAL is the efficiency on \textit{large-diameter graphs}, which is a common challenge for many existing parallel graph processing systems: many existing graph processing systems can be even slower than the standard sequential algorithm on large-diameter graphs due to the lack of parallelism. Such performance degeneration is caused by the high overhead in scheduling and synchronizing threads when traversing the graph in the breadth-first order. The core technique in PASGAL to achieve high parallelism is a technique called \textit{vertical granularity control (VGC)} to hide synchronization overhead, as well as careful redesign of parallel graph algorithms and data structures. In our experiments, we compare PASGAL with state-of-the-art parallel implementations on BFS, SCC, BCC, and SSSP. PASGAL achieves competitive performance on small-diameter graphs compared to the parallel baselines, and is significantly faster on large-diameter graphs.

cs.DC↗

arXiv2024

Legged Robot State Estimation within Non-inertial Environments

This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground in the system modeling. The process and measurement models explicitly treat the movement of the non-inertial environments without requiring knowledge of its motion in the inertial frame or relying on GPS or sensing environmental landmarks. Further, the proposed state estimator is formulated as an invariant extended Kalman filter (InEKF) with the deterministic part of its process model obeying the group-affine property, leading to log-linear error dynamics. The observability analysis of the filter confirms that the robot's pose (i.e., position and orientation) and velocity relative to the non-inertial environment are observable. Hardware experiments on a humanoid robot moving on a rotating and translating treadmill demonstrate the high convergence rate and accuracy of the proposed InEKF even under significant treadmill pitch sway, as well as large estimation errors.

cs.RO↗

arXiv2024

HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion

This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is a discrete-time, provably stabilizing footstep controller. The basis of the footstep controller is a new hybrid, time-varying, linear inverted pendulum (HT-LIP) model that is low-dimensional and accurately captures the essential robot dynamics during DRS locomotion. A new set of sufficient stability conditions are then derived to directly guide the controller design for ensuring the asymptotic stability of the HT-LIP model under general, unknown, vertical DRS motions. Further, the footstep controller is cast as a computationally efficient quadratic program that incorporates the proposed HT-LIP model and stability conditions. The middle layer takes the desired footstep locations generated by the higher layer as input to produce kinematically feasible full-body reference trajectories, which are then accurately tracked by a lower-layer torque controller. Hardware experiments on a Unitree Go1 quadrupedal robot confirm the robustness of the proposed framework under various unknown, aperiodic, vertical DRS motions and uncertainties (e.g., slippery and uneven surfaces, solid and liquid loads, and sudden pushes).

cs.RO↗

arXiv2024

ParlayANN: Scalable and Deterministic Parallel Graph-Based Approximate Nearest Neighbor Search Algorithms

Approximate nearest-neighbor search (ANNS) algorithms are a key part of the modern deep learning stack due to enabling efficient similarity search over high-dimensional vector space representations (i.e., embeddings) of data. Among various ANNS algorithms, graph-based algorithms are known to achieve the best throughput-recall tradeoffs. Despite the large scale of modern ANNS datasets, existing parallel graph based implementations suffer from significant challenges to scale to large datasets due to heavy use of locks and other sequential bottlenecks, which 1) prevents them from efficiently scaling to a large number of processors, and 2) results in nondeterminism that is undesirable in certain applications. In this paper, we introduce ParlayANN, a library of deterministic and parallel graph-based approximate nearest neighbor search algorithms, along with a set of useful tools for developing such algorithms. In this library, we develop novel parallel implementations for four state-of-the-art graph-based ANNS algorithms that scale to billion-scale datasets. Our algorithms are deterministic and achieve high scalability across a diverse set of challenging datasets. In addition to the new algorithmic ideas, we also conduct a detailed experimental study of our new algorithms as well as two existing non-graph approaches. Our experimental results both validate the effectiveness of our new techniques, and lead to a comprehensive comparison among ANNS algorithms on large scale datasets with a list of interesting findings.

cs.IR↗

arXiv2024

Fast and Space-Efficient Parallel Algorithms for Influence Maximization

Influence Maximization (IM) is a crucial problem in data science. The goal is to find a fixed-size set of highly-influential seed vertices on a network to maximize the influence spread along the edges. While IM is NP-hard on commonly-used diffusion models, a greedy algorithm can achieve $(1-1/e)$-approximation, repeatedly selecting the vertex with the highest marginal gain in influence as the seed. Due to theoretical guarantees, rich literature focuses on improving the performance of the greedy algorithm. To estimate the marginal gain, existing work either runs Monte Carlo (MC) simulations of influence spread or pre-stores hundreds of sketches (usually per-vertex information). However, these approaches can be inefficient in time (MC simulation) or space (storing sketches), preventing the ideas from scaling to today's large-scale graphs. This paper significantly improves the scalability of IM using two key techniques. The first is a sketch-compression technique for the independent cascading model on undirected graphs. It allows combining the simulation and sketching approaches to achieve a time-space tradeoff. The second technique includes new data structures for parallel seed selection. Using our new approaches, we implemented PaC-IM: Parallel and Compressed IM. We compare PaC-IM with state-of-the-art parallel IM systems on a 96-core machine with 1.5TB memory. PaC-IM can process large-scale graphs with up to 900M vertices and 74B edges in about 2 hours. On average across all tested graphs, our uncompressed version is 5--18$\times$ faster and about 1.4$\times$ more space-efficient than existing parallel IM systems. Using compression further saves 3.8$\times$ space with only 70% overhead in time on average.

cs.DS↗

arXiv2024

Spectral integrated neural networks (SINNs) for solving forward and inverse dynamic problems

This paper proposes a novel neural network framework, denoted as spectral integrated neural networks (SINNs), for resolving three-dimensional forward and inverse dynamic problems. In the SINNs, the spectral integration method is applied to perform temporal discretization, and then a fully connected neural network is adopted to solve resulting partial differential equations (PDEs) in the spatial domain. Specifically, spatial coordinates are employed as inputs in the network architecture, and the output layer is configured with multiple outputs, each dedicated to approximating solutions at different time instances characterized by Gaussian points used in the spectral method. By leveraging the automatic differentiation technique and spectral integration scheme, the SINNs minimize the loss function, constructed based on the governing PDEs and boundary conditions, to obtain solutions for dynamic problems. Additionally, we utilize polynomial basis functions to expand the unknown function, aiming to enhance the performance of SINNs in addressing inverse problems. The conceived framework is tested on six forward and inverse dynamic problems, involving nonlinear PDEs. Numerical results demonstrate the superior performance of SINNs over the popularly used physics-informed neural networks in terms of convergence speed, computational accuracy and efficiency. It is also noteworthy that the SINNs exhibit the capability to deliver accurate and stable solutions for long-time dynamic problems.

math.NA↗

arXiv2024

Parallel Integer Sort: Theory and Practice

Integer sorting is a fundamental problem in computer science. This paper studies parallel integer sort both in theory and in practice. In theory, we show tighter bounds for a class of existing practical integer sort algorithms, which provides a solid theoretical foundation for their widespread usage in practice and strong performance. In practice, we design a new integer sorting algorithm, \textsf{DovetailSort}, that is theoretically-efficient and has good practical performance. In particular, \textsf{DovetailSort} overcomes a common challenge in existing parallel integer sorting algorithms, which is the difficulty of detecting and taking advantage of duplicate keys. The key insight in \textsf{DovetailSort} is to combine algorithmic ideas from both integer- and comparison-sorting algorithms. In our experiments, \textsf{DovetailSort} achieves competitive or better performance than existing state-of-the-art parallel integer and comparison sorting algorithms on various synthetic and real-world datasets.

cs.DS↗

arXiv2023

Findings of the WMT 2023 Shared Task on Discourse-Level Literary Translation: A Fresh Orb in the Cosmos of LLMs

Translating literary works has perennially stood as an elusive dream in machine translation (MT), a journey steeped in intricate challenges. To foster progress in this domain, we hold a new shared task at WMT 2023, the first edition of the Discourse-Level Literary Translation. First, we (Tencent AI Lab and China Literature Ltd.) release a copyrighted and document-level Chinese-English web novel corpus. Furthermore, we put forth an industry-endorsed criteria to guide human evaluation process. This year, we totally received 14 submissions from 7 academia and industry teams. We employ both automatic and human evaluations to measure the performance of the submitted systems. The official ranking of the systems is based on the overall human judgments. In addition, our extensive analysis reveals a series of interesting findings on literary and discourse-aware MT. We release data, system outputs, and leaderboard at http://www2.statmt.org/wmt23/literary-translation-task.html.

cs.CL↗

arXiv2023

Evolution of Maximum Bending Strain on Poisson's Ratio Distribution

In recent years, new flexible functional materials have attracted increasing interest, but there is a lack of the designing mechanisms of flexibility design with superstructures. In traditional engineering mechanics, the maximum bending strain (MBS) was considered universal for describing the bendable properties of a given material, leading to the universal designing method of lowering the dimension such as thin membranes designed flexible functional materials.In this work, the MBS was found only applicable for materials with uniformly distributed Poisson's ratio, while the MBS increases with the thickness of the given material in case there is a variation Poisson's ratio in different areas. This means the MBS can be enhanced by certain Poisson's ratio design in the future to achieve better flexibility of thick materials. Here, the inorganic freestanding nanofiber membranes, which have a nonconstant Poisson's ratio response on stress/strain for creating nonuniformly distributed Poisson's ratio were proven applicable for designing larger MBS and lower Young's modulus for thicker samples.

cond-mat.soft↗

arXiv2023

Efficient Parallel Output-Sensitive Edit Distance

Given two strings $A[1..n]$ and $B[1..m]$, and a set of operations allowed to edit the strings, the edit distance between $A$ and $B$ is the minimum number of operations required to transform $A$ into $B$. Sequentially, a standard Dynamic Programming (DP) algorithm solves edit distance with $Θ(nm)$ cost. In many real-world applications, the strings to be compared are similar and have small edit distances. To achieve highly practical implementations, we focus on output-sensitive parallel edit-distance algorithms, i.e., to achieve asymptotically better cost bounds than the standard $Θ(nm)$ algorithm when the edit distance is small. We study four algorithms in the paper, including three algorithms based on Breadth-First Search (BFS) and one algorithm based on Divide-and-Conquer (DaC). Our BFS-based solution is based on the Landau-Vishkin algorithm. We implement three different data structures for the longest common prefix (LCP) queries needed in the algorithm: the classic solution using parallel suffix array, and two hash-based solutions proposed in this paper. Our DaC-based solution is inspired by the output-insensitive solution proposed by Apostolico et al., and we propose a non-trivial adaption to make it output-sensitive. All our algorithms have good theoretical guarantees, and they achieve different tradeoffs between work (total number of operations), span (longest dependence chain in the computation), and space. We test and compare our algorithms on both synthetic data and real-world data. Our BFS-based algorithms outperform the existing parallel edit-distance implementation in ParlayLib in all test cases. By comparing our algorithms, we also provide a better understanding of the choice of algorithms for different input patterns. We believe that our paper is the first systematic study in the theory and practice of parallel edit distance.

cs.DS↗

arXiv2023

Boundary integrated neural networks (BINNs) for 2D elastostatic and piezoelectric problems: Theory and MATLAB code

In this paper, we make the first attempt to apply the boundary integrated neural networks (BINNs) for the numerical solution of two-dimensional (2D) elastostatic and piezoelectric problems. BINNs combine artificial neural networks with the well-established boundary integral equations (BIEs) to effectively solve partial differential equations (PDEs). The BIEs are utilized to map all the unknowns onto the boundary, after which these unknowns are approximated using artificial neural networks and resolved via a training process. In contrast to traditional neural network-based methods, the current BINNs offer several distinct advantages. First, by embedding BIEs into the learning procedure, BINNs only need to discretize the boundary of the solution domain, which can lead to a faster and more stable learning process (only the boundary conditions need to be fitted during the training). Second, the differential operator with respect to the PDEs is substituted by an integral operator, which effectively eliminates the need for additional differentiation of the neural networks (high-order derivatives of neural networks may lead to instability in learning). Third, the loss function of the BINNs only contains the residuals of the BIEs, as all the boundary conditions have been inherently incorporated within the formulation. Therefore, there is no necessity for employing any weighing functions, which are commonly used in traditional methods to balance the gradients among different objective functions. Moreover, BINNs possess the ability to tackle PDEs in unbounded domains since the integral representation remains valid for both bounded and unbounded domains. Extensive numerical experiments show that BINNs are much easier to train and usually give more accurate learning solutions as compared to traditional neural network-based methods.

cs.CE↗

arXiv2023

Boundary integrated neural networks (BINNs) for acoustic radiation and scattering

This paper presents a novel approach called the boundary integrated neural networks (BINNs) for analyzing acoustic radiation and scattering. The method introduces fundamental solutions of the time-harmonic wave equation to encode the boundary integral equations (BIEs) within the neural networks, replacing the conventional use of the governing equation in physics-informed neural networks (PINNs). This approach offers several advantages. Firstly, the input data for the neural networks in the BINNs only require the coordinates of "boundary" collocation points, making it highly suitable for analyzing acoustic fields in unbounded domains. Secondly, the loss function of the BINNs is not a composite form, and has a fast convergence. Thirdly, the BINNs achieve comparable precision to the PINNs using fewer collocation points and hidden layers/neurons. Finally, the semi-analytic characteristic of the BIEs contributes to the higher precision of the BINNs. Numerical examples are presented to demonstrate the performance of the proposed method.

math.NA↗

arXiv2023

Adaptive physics-informed neural networks for dynamic thermo-mechanical coupling problems in large-size-ratio functionally graded materials

In this paper, we present the adaptive physics-informed neural networks (PINNs) for resolving three dimensional (3D) dynamic thermo-mechanical coupling problems in large-size-ratio functionally graded materials (FGMs). The physical laws described by coupled governing equations and the constraints imposed by the initial and boundary conditions are leveraged to form the loss function of PINNs by means of the automatic differentiation algorithm, and an adaptive loss balancing scheme is introduced to improve the performance of PINNs. The adaptive PINNs are meshfree and trained on batches of randomly sampled collocation points, which is the key feature and superiority of the approach, since mesh-based methods will encounter difficulties in solving problems with large size ratios. The developed methodology is tested for several 3D thermo-mechanical coupling problems in large-size-ratio FGMs, and the numerical results demonstrate that the adaptive PINNs are effective and reliable for dealing with coupled problems in coating structures with large size ratios up to 109, as well as complex large-size-ratio geometries such as the electrostatic comb, the airplane and the submarine.

cs.CE↗

arXiv2023

Parallel Strong Connectivity Based on Faster Reachability

Computing strongly connected components (SCC) is a fundamental problems in graph processing. As today's real-world graphs are getting larger and larger, parallel SCC is increasingly important. SCC is challenging in the parallel setting and is particularly hard on large-diameter graphs. Many existing parallel SCC implementations can be even slower than Tarjan's sequential algorithm on large-diameter graphs. To tackle this challenge, we propose an efficient parallel SCC implementation using a new parallel reachability algorithm. Our solution is based on a novel idea referred to as vertical granularity control (VGC). It breaks the synchronization barriers to increase parallelism and hide scheduling overhead. To use VGC in our SCC algorithm, we also design an efficient data structure called the \emph{parallel hash bag}. It uses parallel dynamic resizing to avoid redundant work in maintaining frontiers (vertices processed in a round). We implement the parallel SCC algorithm by Blelloch et al.\ (J.\ ACM, 2020) using our new parallel reachability algorithm. We compare our implementation to the state-of-the-art systems, including GBBS, iSpan, Multi-step, and our highly optimized Tarjan's (sequential) algorithm, on 18 graphs, including social, web, $k$-NN, and lattice graphs. On a machine with 96 cores, our implementation is the fastest on 16 out of 18 graphs. On average (geometric means) over all graphs, our SCC is 6.0$\times$ faster than the best previous parallel code (GBBS), 12.8$\times$ faster than Tarjan's sequential algorithms, and 2.7$\times$ faster than the \emph{best existing implementation on each graph}. We believe that our techniques are of independent interest. We also apply our parallel hash bag and VGC scheme to other graph problems, including connectivity and least-element lists (LE-lists).

cs.DC↗

arXiv2023

Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis

Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This paper introduces a time-based nonlinear control method that achieves accurate global-position tracking (GPT) for multi-domain bipedal walking. Deriving a tracking controller for bipedal robots is challenging due to the highly complex robot dynamics that are time-varying and hybrid, especially for multi-domain walking that involves multiple phases/domains of full actuation, over actuation, and underactuation. To tackle this challenge, we introduce a continuous-phase GPT control law for multi-domain walking, which provably ensures the exponential convergence of the entire error state within the full and over actuation domains and that of the directly regulated error state within the underactuation domain. We then construct sufficient multiple-Lyapunov stability conditions for the hybrid multi-domain tracking error system under the proposed GPT control law. We illustrate the proposed controller design through both three-domain walking with all motors activated and two-domain gait with inactive ankle motors. Simulations of a ROBOTIS OP3 bipedal humanoid robot demonstrate the satisfactory accuracy and convergence rate of the proposed control approach under two different cases of multi-domain walking as well as various walking speeds and desired paths.

cs.RO↗

arXiv2023

High-Performance and Flexible Parallel Algorithms for Semisort and Related Problems

Semisort is a fundamental algorithmic primitive widely used in the design and analysis of efficient parallel algorithms. It takes input as an array of records and a function extracting a \emph{key} per record, and reorders them so that records with equal keys are contiguous. Since many applications only require collecting equal values, but not fully sorting the input, semisort is broadly applicable, e.g., in string algorithms, graph analytics, and geometry processing, among many other domains. However, despite dozens of recent papers that use semisort in their theoretical analysis and the existence of an asymptotically optimal parallel semisort algorithm, most implementations of these parallel algorithms choose to implement semisort by using comparison or integer sorting in practice, due to potential performance issues in existing semisort implementations. In this paper, we revisit the semisort problem, with the goal of achieving a high-performance parallel semisort implementation with a flexible interface. Our approach can easily extend to two related problems, \emph{histogram} and \emph{collect-reduce}. Our algorithms achieve strong speedups in practice, and importantly, outperform state-of-the-art parallel sorting and semisorting methods for almost all settings we tested, with varying input sizes, distribution, and key types. We also test two important applications with real-world data, and show that our algorithms improve the performance over existing approaches. We believe that many other parallel algorithm implementations can be accelerated using our results.

cs.DS↗