Added TableFactor, a discrete factor optimized for sparsity.#1528
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May 23, 2023
| using Binary = std::function<double(const double, const double)>; | ||
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| /** The Real ring with addition and multiplication */ |
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somehow thought we already had that in a base class?
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Its in AlgebraicDecisionTree. I didn't want to include it into TableFactor but I we can use the one implemented in AlgebraicDecisionTree.
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I don't see any changes yet - send me an email when I should start CI again. |
added 6 commits
May 28, 2023 13:08
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Amazing work, Yoonwoo!
I will merge, as all unit tests succeed. @varunagrawal there is a possibility this could speed up Hybrid inference by a lot.
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FYI, this appears to use boost/format even if boost features are disabled in cmake. |
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Summary
TableFactor is a discrete probabilistic factor that can replace DecisionTreeFactor.
It should support all features that the current DecisionTreeFactor has such as multiplication, division, sum, and max.
It was developed for faster MAP inference on CSP and Classical Planning problems where discrete state space is very sparse.
Unittest includes a runtime benchmark between TableFactor and DecisionTreeFactor given various sparsity.
Supports cardinality up to 18446744073709551615.
What is the solution?
Relies on Eigen3's SparseVector data structure. Multiplication and division use the tensor contraction method proposed in SPARTA.
What areas of GTSAM does it impact?
gtsam/discrete
How to test?
run provided unit test (testTableFactor.cpp)
Other Notes
In-depth implementation details are in thesis's chapter 4.
Runtime comparison between DecisionTreeFactor and TableFactor on Macbook pro M1 chip.