We study large-scale distributed cooperative systems that use optimistic replication. We represent a system as a graph of actions (operations) connected by edges that reify semantic constraints between actions. Constraint types include conflict, execution order, dependence, and atomicity. The local state is some schedule that conforms to the constraints; because of conflicts, client state is only tentative. For consistency, site schedules should converge; we designed a decentralised, asynchronous commitment protocol. Each client makes a proposal, reflecting its tentative and or preferred schedules. Our protocol distributes the proposals, which it decomposes into semantically-meaningful units called candidates, and runs an election between comparable candidates. A candidate wins when it receives a majority or a plurality. The protocol is fully asynchronous: each site executes its tentative schedule independently, and determines locally when a candidate has won an election. The committed schedule is as close as possible to the preferences expressed by clients.
IceCube @cite_14 introduced the idea of reifying semantics with constraints. The IceCube algorithm computes optimal proposals, minimizing the number of dead actions. Like Bayou, commitment in IceCube is centralised at a primary. Compared to this article, IceCube supports a richer constraint vocabulary, which is useful for applications, but harder to reason about formally.
@cite_14
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We describe a novel approach to log-based reconciliation called IceCube. It is general and is parameterised by application and object semantics. IceCube considers more flexible orderings and is designed to ease the burden of reconciliation on the application programmers. IceCube captures the static and dynamic reconciliation constraints between all pairs of actions, proposes schedules that satisfy the static constraints, and validates them against the dynamic constraints. Preliminary experience indicates that strong static constraints successfully contain the potential combinatorial explosion of the simulation stage. With weaker static constraints, the system still finds good solutions in a reasonable time. IceCube is a system for optimistic replication, supporting collaborative work and mobile computing. It lets users write to shared data with no mutual synchronisation; however replicas diverge and must be reconciled. IceCube is a general-purpose reconciliation engine, parameterised by “constraints” capturing data semantics and user intents. IceCube combines logs of disconnected actions into near-optimal reconciliation schedules that honour the constraints. IceCube features a simple, high-level, systematic API . It seamlessly integrates diverse applications, sharing various data, and run by concurrent users. This paper focus on the IceCube API and algorithms. Application experience indicates that IceCube simplifies application design, supports a wide variety of application semantics, and seamlessly integrates diverse applications. On a realistic benchmark, IceCube runs at reasonable speeds and scales to large input sets. We present MOPED, a framework for Multiple Object Pose Estimation and Detection that seamlessly integrates single-image and multi-image object recognition and pose estimation in one optimized, robust, and scalable framework. We address two main challenges in computer vision for robotics: robust performance in complex scenes, and low latency for real-time operation. We achieve robust performance with Iterative Clustering Estimation (ICE), a novel algorithm that iteratively combines feature clustering with robust pose estimation. Feature clustering quickly partitions the scene and produces object hypotheses. The hypotheses are used to further refine the feature clusters, and the two steps iterate until convergence. ICE is easy to parallelize, and easily integrates single- and multi-camera object recognition and pose estimation. We also introduce a novel object hypothesis scoring function based on M-estimator theory, and a novel pose clustering algorithm that robustly handles recognition outliers. We achieve scalability and low latency with an improved feature matching algorithm for large databases, a GPU CPU hybrid architecture that exploits parallelism at all levels, and an optimized resource scheduler. We provide extensive experimental results demonstrating state-of-the-art performance in terms of recognition, scalability, and latency in real-world robotic applications. Given an image and a natural language query phrase, a grounding system localizes the mentioned objects in the image according to the query's specifications. State-of-the-art methods address the problem by ranking a set of proposal bounding boxes according to the query's semantics, which makes them dependent on the performance of proposal generation systems. Besides, query phrases in one sentence may be semantically related in one sentence and can provide useful cues to ground objects. We propose a novel Multimodal Spatial Regression with semantic Context (MSRC) system which not only predicts the location of ground truth based on proposal bounding boxes, but also refines prediction results by penalizing similarities of different queries coming from same sentences. The advantages of MSRC are twofold: first, it removes the limitation of performance from proposal generation algorithms by using a spatial regression network. Second, MSRC not only encodes the semantics of a query phrase, but also deals with its relation with other queries in the same sentence (i.e., context) by a context refinement network. Experiments show MSRC system provides a significant improvement in accuracy on two popular datasets: Flickr30K Entities and Refer-it Game, with 6.64 and 5.28 increase over the state-of-the-arts respectively.