Constrained sampling and counting are two fundamental problems in artificial intelligence with a diverse range of applications, spanning probabilistic reasoning and planning to constrained-random verification. While the theory of these problems was thoroughly investigated in the 1980s, prior work either did not scale to industrial size instances or gave up correctness guarantees to achieve scalability. Recently, we proposed a novel approach that combines universal hashing and SAT solving and scales to formulas with hundreds of thousands of variables without giving up correctness guarantees. This paper provides an overview of the key ingredients of the approach and discusses challenges that need to be overcome to handle larger real-world instances.
Industrial approaches to constrained sampling in the context of constrained-random verification @cite_24 either rely on Binary Decision Diagram (BDD)-based techniques @cite_45 , which scale rather poorly, or use heuristics that offer no guarantee of performance or uniformity when applied to large problem instances @cite_30 . In prior academic works @cite_40 @cite_51 @cite_19 @cite_21 , the focus is on heuristic techniques including Markov chain Monte Carlo (MCMC) methods and techniques based on random seeding of solvers. These methods scale to large problem instances, but either offer very weak or no guarantees on the uniformity of sampling, or require the user to provide hard-to-estimate problem-specific parameters that crucially affect the performance and uniformity of sampling @cite_39 @cite_3 @cite_49 @cite_30 .
@cite_30 @cite_21 @cite_3 @cite_39 @cite_24 @cite_19 @cite_40 @cite_45 @cite_49 @cite_51
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In this paper, we study the problem of sampling from a given probability density function that is known to be smooth and strongly log-concave. We analyze several methods of approximate sampling based on discretizations of the (highly overdamped) Langevin diffusion and establish guarantees on its error measured in the Wasserstein-2 distance. Our guarantees improve or extend the state-of-the-art results in three directions. First, we provide an upper bound on the error of the first-order Langevin Monte Carlo (LMC) algorithm with optimized varying step-size. This result has the advantage of being horizon free (we do not need to know in advance the target precision) and to improve by a logarithmic factor the corresponding result for the constant step-size. Second, we study the case where accurate evaluations of the gradient of the log-density are unavailable, but one can have access to approximations of the aforementioned gradient. In such a situation, we consider both deterministic and stochastic approximations of the gradient and provide an upper bound on the sampling error of the first-order LMC that quantifies the impact of the gradient evaluation inaccuracies. Third, we establish upper bounds for two versions of the second-order LMC, which leverage the Hessian of the log-density. We nonasymptotic guarantees on the sampling error of these second-order LMCs. These guarantees reveal that the second-order LMC algorithms improve on the first-order LMC in ill-conditioned settings. Recently, Stochastic Gradient Markov Chain Monte Carlo (SG-MCMC) methods have been proposed for scaling up Monte Carlo computations to large data problems. Whilst these approaches have proven useful in many applications, vanilla SG-MCMC might suffer from poor mixing rates when random variables exhibit strong couplings under the target densities or big scale differences. In this study, we propose a novel SG-MCMC method that takes the local geometry into account by using ideas from Quasi-Newton optimization methods. These second order methods directly approximate the inverse Hessian by using a limited history of samples and their gradients. Our method uses dense approximations of the inverse Hessian while keeping the time and memory complexities linear with the dimension of the problem. We provide a formal theoretical analysis where we show that the proposed method is asymptotically unbiased and consistent with the posterior expectations. We illustrate the effectiveness of the approach on both synthetic and real datasets. Our experiments on two challenging applications show that our method achieves fast convergence rates similar to Riemannian approaches while at the same time having low computational requirements similar to diagonal preconditioning approaches. Abstract This article describes a new Metropolis-like transition rule, the multiple-try Metropolis, for Markov chain Monte Carlo (MCMC) simulations. By using this transition rule together with adaptive direction sampling, we propose a novel method for incorporating local optimization steps into a MCMC sampler in continuous state-space. Numerical studies show that the new method performs significantly better than the traditional Metropolis-Hastings (M-H) sampler. With minor tailoring in using the rule, the multiple-try method can also be exploited to achieve the effect of a griddy Gibbs sampler without having to bear with griddy approximations, and the effect of a hit-and-run algorithm without having to figure out the required conditional distribution in a random direction. In human-robot collaborative tasks, incorporating qualitative information provided by humans can greatly enhance the robustness and efficacy of robot state estimation. We introduce an algorithmic framework to model qualitative information as quantitative constraints on and between states. Our approach, named Sequentially Constrained Hamiltonian Monte Carlo, integrates Hamiltonian dynamics into Sequentially Constrained Monte Carlo sampling. We are able to generate samples that satisfy arbitrarily complex, non-smooth and discontinuous constraints, which in turn allows us to support a wide range of qualitative information. We evaluate our approach for constrained sampling qualitatively and quantitatively with several classes of constraints. SCHMC significantly outperforms the Metropolis-Hastings algorithm (a standard Markov Chain Monte Carlo (MCMC) method) and the Hamiltonian Monte Carlo (HMC) method, in terms of both the accuracy of the sampling (for satisfying constraints) and the quality of approximation. Compared to Sequentially Constrained Monte Carlo (SCMC), which supports similar kinds of constraints, our SCHMC approach has faster convergence rates and lower parameter sensitivity.