Distributed data analytic engines like Spark are common choices to process massive data in industry. However, the performance of Spark SQL highly depends on the choice of configurations, where the optimal ones vary with the executed workloads. Among various alternatives for Spark SQL tuning, Bayesian optimization (BO) is a popular framework that finds near-optimal configurations given sufficient budget, but it suffers from the re-optimization issue and is not practical in real production. When applying transfer learning to accelerate the tuning process, we notice two domain-specific challenges: 1) most previous work focus on transferring tuning history, while expert knowledge from Spark engineers is of great potential to improve the tuning performance but is not well studied so far; 2) history tasks should be carefully utilized, where using dissimilar ones lead to a deteriorated performance in production. In this paper, we present Rover, a deployed online Spark SQL tuning service for efficient and safe search on industrial workloads. To address the challenges, we propose generalized transfer learning to boost the tuning performance based on external knowledge, including expert-assisted Bayesian optimization and controlled history transfer. Experiments on public benchmarks and real-world tasks show the superiority of Rover over competitive baselines. Notably, Rover saves an average of 50.1% of the memory cost on 12k real-world Spark SQL tasks in 20 iterations, among which 76.2% of the tasks achieve a significant memory reduction of over 60%.

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded GPS-denied environments. We can, however, actively increase the amount of perceptual information available to such robots by augmenting them with a small number of more expensive, but less resource-constrained, agents. Specifically, the latter can serve as sources of perceptual information themselves. In this paper, we study the problem of optimally positioning (and potentially navigating) a small number of more capable agents to enhance the perceptual environment for their lightweight,inexpensive, teammates that only need to rely on cameras and IMUs. We propose a numerically robust, computationally efficient approach to solve this problem via nonlinear optimization. Our method outperforms the standard approach based on the greedy algorithm, while matching the accuracy of a heuristic evolutionary scheme for global optimization at a fraction of its running time. Ultimately, we validate our solution in both photorealistic simulations and real-world experiments. In these experiments, we use lidar-based autonomous ground vehicles as the more capable agents, and vision-based aerial robots as their SWAP-constrained teammates. Our method is able to reduce drift in visual-inertial odometry by as much as 90%, and it outperforms random positioning of lidar-equipped agents by a significant margin. Furthermore, our method can be generalized to different types of robot teams with heterogeneous perception capabilities. It has a wide range of applications, such as surveying and mapping challenging dynamic environments, and enabling resilience to large-scale perturbations that can be caused by earthquakes or storms.

Learning a smooth graph signal from partially observed data is a well-studied task in graph-based machine learning. We consider this task from the perspective of optimal recovery, a mathematical framework for learning a function from observational data that adopts a worst-case perspective tied to model assumptions on the function to be learned. Earlier work in the optimal recovery literature has shown that minimizing a regularized objective produces optimal solutions for a general class of problems, but did not fully identify the regularization parameter. Our main contribution provides a way to compute regularization parameters that are optimal or near-optimal (depending on the setting), specifically for graph signal processing problems. Our results offer a new interpretation for classical optimization techniques in graph-based learning and also come with new insights for hyperparameter selection. We illustrate the potential of our methods in numerical experiments on several semi-synthetic graph signal processing datasets.

We study three models of the problem of adversarial training in multiclass classification designed to construct robust classifiers against adversarial perturbations of data in the agnostic-classifier setting. We prove the existence of Borel measurable robust classifiers in each model and provide a unified perspective of the adversarial training problem, expanding the connections with optimal transport initiated by the authors in their previous work [19] and developing new connections between adversarial training in the multiclass setting and total variation regularization. As a corollary of our results, we prove the existence of Borel measurable solutions to the agnostic adversarial training problem in the binary classification setting, a result that improves results in the literature of adversarial training, where robust classifiers were only known to exist within the enlarged universal σ-algebra of the feature space.

Tensor network (TN) is a powerful framework in machine learning, but selecting a good TN model, known as TN structure search (TN-SS), is a challenging and computationally intensive task. The recent approach TNLS~\cite{li2022permutation} showed promising results for this task, however, its computational efficiency is still unaffordable, requiring too many evaluations of the objective function. We propose TnALE, a new algorithm that updates each structure-related variable alternately by local enumeration, \emph{greatly} reducing the number of evaluations compared to TNLS. We theoretically investigate the descent steps for TNLS and TnALE, proving that both algorithms can achieve linear convergence up to a constant if a sufficient reduction of the objective is \emph{reached} in each neighborhood. We also compare the evaluation efficiency of TNLS and TnALE, revealing that $\Omega(2^N)$ evaluations are typically required in TNLS for \emph{reaching} the objective reduction in the neighborhood, while ideally $O(N^2R)$ evaluations are sufficient in TnALE, where $N$ denotes the tensor order and $R$ reflects the \emph{``low-rankness''} of the neighborhood. Experimental results verify that TnALE can find practically good TN-ranks and permutations with vastly fewer evaluations than the state-of-the-art algorithms.

To enable an intelligent, programmable and multi-vendor radio access network (RAN) for 6G networks, considerable efforts have been made in standardization and development of open RAN (O-RAN). So far, however, the applicability of O-RAN in controlling and optimizing RAN functions has not been widely investigated. In this paper, we jointly optimize the flow-split distribution, congestion control and scheduling (JFCS) to enable an intelligent traffic steering application in O-RAN. Combining tools from network utility maximization and stochastic optimization, we introduce a multi-layer optimization framework that provides fast convergence, long-term utility-optimality and significant delay reduction compared to the state-of-the-art and baseline RAN approaches. Our main contributions are three-fold: i) we propose the novel JFCS framework to efficiently and adaptively direct traffic to appropriate radio units; ii) we develop low-complexity algorithms based on the reinforcement learning, inner approximation and bisection search methods to effectively solve the JFCS problem in different time scales; and iii) the rigorous theoretical performance results are analyzed to show that there exists a scaling factor to improve the tradeoff between delay and utility-optimization. Collectively, the insights in this work will open the door towards fully automated networks with enhanced control and flexibility. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms in terms of the convergence rate, long-term utility-optimality and delay reduction.

Prompting interfaces allow users to quickly adjust the output of generative models in both vision and language. However, small changes and design choices in the prompt can lead to significant differences in the output. In this work, we develop a black-box framework for generating adversarial prompts for unstructured image and text generation. These prompts, which can be standalone or prepended to benign prompts, induce specific behaviors into the generative process, such as generating images of a particular object or generating high perplexity text.

For Human Action Recognition tasks (HAR), 3D Convolutional Neural Networks have proven to be highly effective, achieving state-of-the-art results. This study introduces a novel streaming architecture based toolflow for mapping such models onto FPGAs considering the model's inherent characteristics and the features of the targeted FPGA device. The HARFLOW3D toolflow takes as input a 3D CNN in ONNX format and a description of the FPGA characteristics, generating a design that minimizes the latency of the computation. The toolflow is comprised of a number of parts, including i) a 3D CNN parser, ii) a performance and resource model, iii) a scheduling algorithm for executing 3D models on the generated hardware, iv) a resource-aware optimization engine tailored for 3D models, v) an automated mapping to synthesizable code for FPGAs. The ability of the toolflow to support a broad range of models and devices is shown through a number of experiments on various 3D CNN and FPGA system pairs. Furthermore, the toolflow has produced high-performing results for 3D CNN models that have not been mapped to FPGAs before, demonstrating the potential of FPGA-based systems in this space. Overall, HARFLOW3D has demonstrated its ability to deliver competitive latency compared to a range of state-of-the-art hand-tuned approaches being able to achieve up to 5$\times$ better performance compared to some of the existing works.

Learning causal structures from observational data is a fundamental yet highly complex problem when the number of variables is large. In this paper, we start from linear structural equation models (SEMs) and investigate ways of learning causal structures from the inverse covariance matrix. The proposed method, called $\mathcal{O}$-ICID (for {\it Independence-preserving} Decomposition from Oracle Inverse Covariance matrix), is based on continuous optimization of a type of matrix decomposition that preserves the nonzero patterns of the inverse covariance matrix. We show that $\mathcal{O}$-ICID provides an efficient way for identifying the true directed acyclic graph (DAG) under the knowledge of noise variances. With weaker prior information, the proposed method gives directed graph solutions that are useful for making more refined causal discovery. The proposed method enjoys a low complexity when the true DAG has bounded node degrees, as reflected by its time efficiency in experiments in comparison with state-of-the-art algorithms.

We study approaches for compressing the empirical measure in the context of finite dimensional reproducing kernel Hilbert spaces (RKHSs).In this context, the empirical measure is contained within a natural convex set and can be approximated using convex optimization methods.Such an approximation gives under certain conditions rise to a coreset of data points. A key quantity that controls how large such a coreset has to be is the size of the largest ball around the empirical measure that is contained within the empirical convex set. The bulk of our work is concerned with deriving high probability lower bounds on the size of such a ball under various conditions. We complement this derivation of the lower bound by developing techniques that allow us to apply the compression approach to concrete inference problems such as kernel ridge regression. We conclude with a construction of an infinite dimensional RKHS for which the compression is poor, highlighting some of the difficulties one faces when trying to move to infinite dimensional RKHSs.