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Provenance-based data skipping compactly over-approximates the provenance of a query using so-called provenance sketches and utilizes such sketches to speed-up the execution of subsequent queries by skipping irrelevant data. However, a sketch captured at some time in the past may become stale if the data has been updated subsequently. Thus, there is a need to maintain provenance sketches. In this work, we introduce In-Memory incremental Maintenance of Provenance sketches (IMP), a framework for maintaining sketches incrementally under updates. At the core of IMP is an incremental query engine for data annotated with sketches that exploits the coarse-grained nature of sketches to enable novel optimizations. We experimentally demonstrate that IMP significantly reduces the cost of sketch maintenance, thereby enabling the use of provenance sketches for a broad range of workloads that involve updates.
Provenance sketches, light-weight indexes that record what data is needed (is relevant) for answering a query, can significantly improve performance of important classes of queries (e.g., HAVING and top-k queries). Given a horizontal partition of a table, a provenance sketch for a query Q records which fragments contain provenance. Once a provenance sketch has been captured for a query, it can be used to speed-up subsequent queries by skipping data that does not belong to a sketch. The size and, thus, also the effectiveness of a provenance sketch is often quite sensitive to the choice of attribute(s) we are partitioning on. In this work, we develop sample-based estimation techniques for the size of provenance sketches akin to a specialized form of approximate query processing. This technique enables the online selection of provenance sketches by estimating the size of sketches for a set of candidate attributes and then creating the sketch that is estimated to yield the largest benefit. We demonstrate experimentally that our estimation is accurate enough to select optimal or near optimal provenance sketches in most cases which in turn leads to a runtime improvement of up to %60 comp
To use assistive robots in everyday life, a remote control system with common devices, such as 2D devices, is helpful to control the robots anytime and anywhere as intended. Hand-drawn sketches are one of the intuitive ways to control robots with 2D devices. However, since similar sketches have different intentions from scene to scene, existing work needs additional modalities to set the sketches' semantics. This requires complex operations for users and leads to decreasing usability. In this paper, we propose Sketch-MoMa, a teleoperation system using the user-given hand-drawn sketches as instructions to control a robot. We use Vision-Language Models (VLMs) to understand the user-given sketches superimposed on an observation image and infer drawn shapes and low-level tasks of the robot. We utilize the sketches and the generated shapes for recognition and motion planning of the generated low-level tasks for precise and intuitive operations. We validate our approach using state-of-the-art VLMs with 7 tasks and 5 sketch shapes. We also demonstrate that our approach effectively specifies the detailed motions, such as how to grasp and how much to rotate. Moreover, we show the competitiv
The paper is devoted to the creation of the semantic sketches for English verbs. The pilot corpus consists of the English-Russian sketch pairs and is aimed to show what kind of contrastive studies the sketches help to conduct. Special attention is paid to the cross-language differences between the sketches with similar semantics. Moreover, we discuss the process of building a semantic sketch, and analyse the mistakes that could give insight to the linguistic nature of sketches.
Linear regression is frequently applied in a variety of domains, some of which might contain sensitive information. This necessitates that the application of these methods does not reveal private information. Differentially private (DP) linear regression methods, developed for this purpose, compute private estimates of the solution. These techniques typically involve computing a noisy version of the solution vector. Instead, we propose releasing private sketches of the datasets, which can then be used to compute an approximate solution to the regression problem. This is motivated by the \emph{sketch-and-solve} paradigm, where the regression problem is solved on a smaller sketch of the dataset instead of on the original problem space. The solution obtained on the sketch can also be shown to have good approximation guarantees to the original problem. Various sketching methods have been developed for improving the computational efficiency of linear regression problems under this paradigm. We adopt this paradigm for the purpose of releasing private sketches of the data. We construct differentially private sketches for the problems of least squares regression, as well as least absolute
A litany of theoretical and numerical results have established the sketch-and-precondition paradigm as a powerful approach to solving large linear regression problems in standard computing environments. Perhaps surprisingly, much less work has been done on understanding how sketch-and-precondition performs on graphics processing unit (GPU) systems. We address this gap by benchmarking an implementation of sketch-and-precondition based on sparse sign-sketches on single and multi-GPU systems. In doing so, we describe a novel, easily parallelized, rejection-sampling based method for generating sparse sign sketches. Our approach, which is particularly well-suited for GPUs, is easily adapted to a variety of computing environments. Taken as a whole, our numerical experiments indicate that sketch-and-precondition with sparse sign sketches is particularly well-suited for GPUs, and may be suitable for use in black-box least-squares solvers.
We consider the problem of reconstructing a 3D scene from multiple sketches. We propose a pipeline which involves (1) stitching together multiple sketches through use of correspondence points, (2) converting the stitched sketch into a realistic image using a CycleGAN, and (3) estimating that image's depth-map using a pre-trained convolutional neural network based architecture called MegaDepth. Our contribution includes constructing a dataset of image-sketch pairs, the images for which are from the Zurich Building Database, and sketches have been generated by us. We use this dataset to train a CycleGAN for our pipeline's second step. We end up with a stitching process that does not generalize well to real drawings, but the rest of the pipeline that creates a 3D reconstruction from a single sketch performs quite well on a wide variety of drawings.
Network stream mining is fundamental to many network operations. Sketches, as compact data structures that offer low memory overhead with bounded accuracy, have emerged as a promising solution for network stream mining. Recent studies attempt to optimize sketches using machine learning; however, these approaches face the challenges of lacking adaptivity to dynamic networks and incurring high training costs. In this paper, we propose LLM-Sketch, based on the insight that fields beyond the flow IDs in packet headers can also help infer flow sizes. By using a two-tier data structure and separately recording large and small flows, LLM-Sketch improves accuracy while minimizing memory usage. Furthermore, it leverages fine-tuned large language models (LLMs) to reliably estimate flow sizes. We evaluate LLM-Sketch on three representative tasks, and the results demonstrate that LLM-Sketch outperforms state-of-the-art methods by achieving a $7.5\times$ accuracy improvement.
Inspired by the theory of classifying topoi for geometric theories, we define rounded sketches and logoi and provide the notion of classifying logos for a rounded sketch. Rounded sketches can be used to axiomatise all the known fragments of infinitary first order logic in $\mathbf{L}_{\infty,\infty}$, in a spectrum ranging from weaker than finitary algebraic to stronger than $λ$-geometric for $λ$ a regular cardinal. We show that every rounded sketch has an associated classifying logos, having similar properties to the classifying topos of a geometric theory. This amounts to a Diaconescu-type result for rounded sketches and (Morita small) logoi, which generalises the one for classifying topoi.
Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over-specified. In this work, we propose hand-drawn sketches as a modality for goal specification in visual imitation learning. Sketches are easy for users to provide on the fly like language, but similar to images they can also help a downstream policy to be spatially-aware and even go beyond images to disambiguate task-relevant from task-irrelevant objects. We present RT-Sketch, a goal-conditioned policy for manipulation that takes a hand-drawn sketch of the desired scene as input, and outputs actions. We train RT-Sketch on a dataset of paired trajectories and corresponding synthetically generated goal sketches. We evaluate this approach on six manipulation skills involving tabletop object rearrangements on an articulated countertop. Experimentally we find that RT-Sketch is able to perform on a similar level to image or language-conditioned agents in straightforward settings, while achieving greater robustness when language goals are ambiguous or visual distractors are present. Additionally, we show that RT
We construct the universal realized limit sketch associated to a given limit sketch. The construction uses factorization systems to organize the classical argument of [2], yielding a streamlined and conceptually unified formulation of the technical steps. This provides a structured framework for understanding realizations of limit sketches in terms of factorization-theoretic data.
Data sketching is a critical tool for distinct counting, enabling multisets to be represented by compact summaries that admit fast cardinality estimates. Because sketches may be merged to summarize multiset unions, they are a basic building block in data warehouses. Although many practical sketches for cardinality estimation exist, none provide privacy when merging. We propose the first practical cardinality sketches that are simultaneously mergeable, differentially private (DP), and have low empirical errors. These introduce a novel randomized algorithm for performing logical operations on noisy bits, a tight privacy analysis, and provably optimal estimation. Our sketches dramatically outperform existing theoretical solutions in simulations and on real-world data.
Sketching is an important activity for understanding, designing, and communicating different aspects of software systems such as their requirements or architecture. Often, sketches start on paper or whiteboards, are revised, and may evolve into a digital version. Users may then print a revised sketch, change it on paper, and digitize it again. Existing tools focus on a paperless workflow, i.e., archiving analog documents, or rely on special hardware - they do not focus on integrating digital versions into the analog-focused workflow that many users follow. In this paper, we present the conceptual design and a prototype of LivelySketches, a tool that supports the "round-trip" lifecycle of sketches from analog to digital and back. The proposed workflow includes capturing both analog and digital sketches as well as relevant context information. In addition, users can link sketches to other related sketches or documents. They may access the linked artifacts and captured information using digital as well as augmented analog versions of the sketches. We further present results from a formative user study with four students and outline possible directions for future work.
The study of neural generative models of human sketches is a fascinating contemporary modeling problem due to the links between sketch image generation and the human drawing process. The landmark SketchRNN provided breakthrough by sequentially generating sketches as a sequence of waypoints. However this leads to low-resolution image generation, and failure to model long sketches. In this paper we present BézierSketch, a novel generative model for fully vector sketches that are automatically scalable and high-resolution. To this end, we first introduce a novel inverse graphics approach to stroke embedding that trains an encoder to embed each stroke to its best fit Bézier curve. This enables us to treat sketches as short sequences of paramaterized strokes and thus train a recurrent sketch generator with greater capacity for longer sketches, while producing scalable high-resolution results. We report qualitative and quantitative results on the Quick, Draw! benchmark.
We contribute the first large-scale dataset of scene sketches, SketchyScene, with the goal of advancing research on sketch understanding at both the object and scene level. The dataset is created through a novel and carefully designed crowdsourcing pipeline, enabling users to efficiently generate large quantities of realistic and diverse scene sketches. SketchyScene contains more than 29,000 scene-level sketches, 7,000+ pairs of scene templates and photos, and 11,000+ object sketches. All objects in the scene sketches have ground-truth semantic and instance masks. The dataset is also highly scalable and extensible, easily allowing augmenting and/or changing scene composition. We demonstrate the potential impact of SketchyScene by training new computational models for semantic segmentation of scene sketches and showing how the new dataset enables several applications including image retrieval, sketch colorization, editing, and captioning, etc. The dataset and code can be found at https://github.com/SketchyScene/SketchyScene.
Given an abstract, deformed, ordinary sketch from untrained amateurs like you and me, this paper turns it into a photorealistic image - just like those shown in Fig. 1(a), all non-cherry-picked. We differ significantly from prior art in that we do not dictate an edgemap-like sketch to start with, but aim to work with abstract free-hand human sketches. In doing so, we essentially democratise the sketch-to-photo pipeline, "picturing" a sketch regardless of how good you sketch. Our contribution at the outset is a decoupled encoder-decoder training paradigm, where the decoder is a StyleGAN trained on photos only. This importantly ensures that generated results are always photorealistic. The rest is then all centred around how best to deal with the abstraction gap between sketch and photo. For that, we propose an autoregressive sketch mapper trained on sketch-photo pairs that maps a sketch to the StyleGAN latent space. We further introduce specific designs to tackle the abstract nature of human sketches, including a fine-grained discriminative loss on the back of a trained sketch-photo retrieval model, and a partial-aware sketch augmentation strategy. Finally, we showcase a few downstre
This paper introduces sketch-oriented databases, a categorical framework that encodes database paradigms as finite-limit sketches and individual databases and schemas as set-valued models. It illustrates the formalism through graph-oriented paradigms such as quivers, RDF triplestores and property graphs. It also shows how common graph features such as labels, attributes, typing, and paths, are uniformly captured by sketch constructions. Because paths play an important role in queries, we propose inference rules formalized via localizers to compute useful paths lazily; such localizers are also useful for tasks like database type conformance. Finally, the paper introduces stuttering sketches, whose aim is to facilitate modular composition and scalable model growth: stuttering sketches are finite-limit sketches in which relations are specified by a single limit instead of two nested limits, and the paper proves that finite unions of models of a stuttering sketch are pointwise colimits.
Drawing freehand sketches of mechanical components on multimedia devices for AI-based engineering modeling has become a new trend. However, its development is being impeded because existing works cannot produce suitable sketches for data-driven research. These works either generate sketches lacking a freehand style or utilize generative models not originally designed for this task resulting in poor effectiveness. To address this issue, we design a two-stage generative framework mimicking the human sketching behavior pattern, called MSFormer, which is the first time to produce humanoid freehand sketches tailored for mechanical components. The first stage employs Open CASCADE technology to obtain multi-view contour sketches from mechanical components, filtering perturbing signals for the ensuing generation process. Meanwhile, we design a view selector to simulate viewpoint selection tasks during human sketching for picking out information-rich sketches. The second stage translates contour sketches into freehand sketches by a transformer-based generator. To retain essential modeling features as much as possible and rationalize stroke distribution, we introduce a novel edge-constraint
Sketches, probabilistic structures for estimating item frequencies in infinite data streams with limited space, are widely used across various domains. Recent studies have shifted the focus from handcrafted sketches to neural sketches, leveraging memory-augmented neural networks (MANNs) to enhance the streaming compression capabilities and achieve better space-accuracy trade-offs.However, existing neural sketches struggle to scale across different data domains and space budgets due to inflexible MANN configurations. In this paper, we introduce a scalable MANN architecture that brings to life the {\it Lego sketch}, a novel sketch with superior scalability and accuracy. Much like assembling creations with modular Lego bricks, the Lego sketch dynamically coordinates multiple memory bricks to adapt to various space budgets and diverse data domains. Our theoretical analysis guarantees its high scalability and provides the first error bound for neural sketch. Furthermore, extensive experimental evaluations demonstrate that the Lego sketch exhibits superior space-accuracy trade-offs, outperforming existing handcrafted and neural sketches. Our code is available at https://github.com/FFY0/L
Sketches have shown high accuracy in multi-way join cardinality estimation, a critical problem in cost-based query optimization. Accurately estimating the cardinality of a join operation -- analogous to its computational cost -- allows the optimization of query execution costs in relational database systems. However, although sketches have shown high efficacy in query optimization, they are typically constructed specifically for predefined selections in queries that are assumed to be given a priori, hindering their applicability to new queries. As a more general solution, we propose for Sum-Product Networks to dynamically approximate sketches on-the-fly. Sum-Product Networks can decompose and model multivariate distributions, such as relations, as linear combinations of multiple univariate distributions. By representing these univariate distributions as sketches, Sum-Product Networks can combine them element-wise to efficiently approximate the sketch of any query selection. These approximate sketches can then be applied to join cardinality estimation. In particular, we implement the Fast-AGMS and Bound Sketch methods, which have successfully been used in prior work, despite their c