Predicting Pedestrian Crosswalk Behavior Using Convolutional Neural Networks

A common yet potentially dangerous task is the act of crossing the street. Pedestrian accidents contribute a significant amount to the high number of annual traffic casualties, which is why it is crucial for pedestrians to use safety measures such as a crosswalk. However, people often forget to activate a crosswalk light or are unable to do so -- such as those who are visually impaired or have occupied hands. Other pedestrians are simply careless and find the crosswalk signals a hassle, which can result in an accident where a car hits them. In this paper, we consider an improvement to the crosswalk system by designing a system that can detect pedestrians and triggering the crosswalk signal automatically. We collect a dataset of images that we then use to train a convolutional neural network to distinguish between pedestrians (including bicycle riders) and various false alarms. The resulting system can capture and evaluate images in real time, and the result can be used to automatically activate systems a crosswalk light. After extensive testing of our system in real-world environments, we conclude that it is feasible as a back-up system that can compliment existing crosswalk buttons, and thereby improve the overall safety of crossing the street.

Distributed Reinforcement Learning is a Dataflow Problem

Researchers and practitioners in the field of reinforcement learning (RL) frequently leverage parallel computation, which has led to a plethora of new algorithms and systems in the last few years. In this paper, we re-examine the challenges posed by distributed RL and try to view it through the lens of an old idea: distributed dataflow. We show that viewing RL as a dataflow problem leads to highly composable and performant implementations. We propose AnonFlow, a hybrid actor-dataflow programming model for distributed RL, and validate its practicality by porting the full suite of algorithms in AnonLib, a widely-adopted distributed RL library.

Variable Skipping for Autoregressive Range Density Estimation

Deep autoregressive models compute point likelihood estimates of individual data points. However, many applications (i.e., database cardinality estimation) require estimating range densities, a capability that is under-explored by current neural density estimation literature. In these applications, fast and accurate range density estimates over high-dimensional data directly impact user-perceived performance. In this paper, we explore a technique, variable skipping, for accelerating range density estimation over deep autoregressive models. This technique exploits the sparse structure of range density queries to avoid sampling unnecessary variables during approximate inference. We show that variable skipping provides 10-100$\times$ efficiency improvements when targeting challenging high-quantile error metrics, enables complex applications such as text pattern matching, and can be realized via a simple data augmentation procedure without changing the usual maximum likelihood objective.

NeuroCard: One Cardinality Estimator for All Tables

Query optimizers rely on accurate cardinality estimates to produce good execution plans. Despite decades of research, existing cardinality estimators are inaccurate for complex queries, due to making lossy modeling assumptions and not capturing inter-table correlations. In this work, we show that it is possible to learn the correlations across all tables in a database without any independence assumptions. We present NeuroCard, a join cardinality estimator that builds a single neural density estimator over an entire database. Leveraging join sampling and modern deep autoregressive models, NeuroCard makes no inter-table or inter-column independence assumptions in its probabilistic modeling. NeuroCard achieves orders of magnitude higher accuracy than the best prior methods (a new state-of-the-art result of 8.5$\times$ maximum error on JOB-light), scales to dozens of tables, while being compact in space (several MBs) and efficient to construct or update (seconds to minutes).

Hoplite: Efficient Collective Communication for Task-Based Distributed Systems

Collective communication systems such as MPI offer high performance group communication primitives at the cost of application flexibility. Today, an increasing number of distributed applications (e.g, reinforcement learning) require flexibility in expressing dynamic and asynchronous communication patterns. To accommodate these applications, task-based distributed computing frameworks (e.g., Ray, Dask, Hydro) have become popular as they allow applications to dynamically specify communication by invoking tasks, or functions, at runtime. This design makes efficient collective communication challenging because (1) the group of communicating processes is chosen at runtime, and (2) processes may not all be ready at the same time. We design and implement Hoplite, a communication layer for task-based distributed systems that achieves high performance collective communication without compromising application flexibility. The key idea of Hoplite is to use distributed protocols to compute a data transfer schedule on the fly. This enables the same optimizations used in traditional collective communication, but for applications that specify the communication incrementally. We show that Hoplite can achieve similar performance compared with a traditional collective communication library, MPICH. We port a popular distributed computing framework, Ray, on atop of Hoplite. We show that Hoplite can speed up asynchronous parameter server and distributed reinforcement learning workloads that are difficult to execute efficiently with traditional collective communication by up to 8.1x and 3.9x, respectively.

IMPACT: Importance Weighted Asynchronous Architectures with Clipped Target Networks

The practical usage of reinforcement learning agents is often bottlenecked by the duration of training time. To accelerate training, practitioners often turn to distributed reinforcement learning architectures to parallelize and accelerate the training process. However, modern methods for scalable reinforcement learning (RL) often tradeoff between the throughput of samples that an RL agent can learn from (sample throughput) and the quality of learning from each sample (sample efficiency). In these scalable RL architectures, as one increases sample throughput (i.e. increasing parallelization in IMPALA), sample efficiency drops significantly. To address this, we propose a new distributed reinforcement learning algorithm, IMPACT. IMPACT extends IMPALA with three changes: a target network for stabilizing the surrogate objective, a circular buffer, and truncated importance sampling. In discrete action-space environments, we show that IMPACT attains higher reward and, simultaneously, achieves up to 30% decrease in training wall-time than that of IMPALA. For continuous control environments, IMPACT trains faster than existing scalable agents while preserving the sample efficiency of synchronous PPO.

Population Based Augmentation: Efficient Learning of Augmentation Policy Schedules

A key challenge in leveraging data augmentation for neural network training is choosing an effective augmentation policy from a large search space of candidate operations. Properly chosen augmentation policies can lead to significant generalization improvements; however, state-of-the-art approaches such as AutoAugment are computationally infeasible to run for the ordinary user. In this paper, we introduce a new data augmentation algorithm, Population Based Augmentation (PBA), which generates nonstationary augmentation policy schedules instead of a fixed augmentation policy. We show that PBA can match the performance of AutoAugment on CIFAR-10, CIFAR-100, and SVHN, with three orders of magnitude less overall compute. On CIFAR-10 we achieve a mean test error of 1.46%, which is a slight improvement upon the current state-of-the-art. The code for PBA is open source and is available at https://github.com/arcelien/pba.

Selectivity Estimation with Deep Likelihood Models

Selectivity estimation has long been grounded in statistical tools for density estimation. To capture the rich multivariate distributions of relational tables, we propose the use of a new type of high-capacity statistical model: deep likelihood models. However, direct application of these models leads to a limited estimator that is prohibitively expensive to evaluate for range and wildcard predicates. To make a truly usable estimator, we develop a Monte Carlo integration scheme on top of likelihood models that can efficiently handle range queries with dozens of filters or more. Like classical synopses, our estimator summarizes the data without supervision. Unlike previous solutions, our estimator approximates the joint data distribution without any independence assumptions. When evaluated on real-world datasets and compared against real systems and dominant families of techniques, our likelihood model based estimator achieves single-digit multiplicative error at tail, a 40-200$\times$ accuracy improvement over the second best method, and is space- and runtime-efficient.