Robert Zhang

Robert Zhang, Eric Hayden Campbell, Dixin Tang et al.

Predicate pushdown is a long-standing performance optimization that filters data as early as possible in a computational workflow. In modern data pipelines, this transformation is especially important because much of the computation occurs inside user-defined functions (UDFs) written in general-purpose languages such as Python and Scala. These UDFs capture rich domain logic and complex aggregations and are among the most expensive operations in a pipeline. Moving filters ahead of such UDFs can yield substantial performance gains, but doing so requires semantic reasoning. This paper introduces a general semantic foundation for predicate pushdown over stateful fold-based computations. We view pushdown as a correspondence between two programs that process different subsets of input data, with correctness witnessed by a bisimulation invariant relating their internal states. Building on this foundation, we develop a sound and relatively complete framework for verification, alongside a synthesis algorithm that automatically constructs optimal pushdown decompositions by finding the strongest admissible pre-filters and weakest residual post-filters. We implement this approach in a tool called Pusharoo and evaluate it on 150 real-world pandas and Spark data-processing pipelines. Our evaluation shows that Pusharoo is significantly more expressive than prior work, producing optimal pushdown transformations with a median synthesis time of 1.6 seconds per benchmark. Furthermore, our experiments demonstrate that the discovered pushdown optimizations speed up end-to-end execution by an average of 2.4$\times$ and up to two orders of magnitude.

Anirudh Khatry, Robert Zhang, Jia Pan et al.

C-to-Rust transpilation is essential for modernizing legacy C code while enhancing safety and interoperability with modern Rust ecosystems. However, no dataset currently exists for evaluating whether a system can transpile C into safe Rust that passes a set of test cases. We introduce CRUST-Bench, a dataset of 100 C repositories, each paired with manually-written interfaces in safe Rust as well as test cases that can be used to validate correctness of the transpilation. By considering entire repositories rather than isolated functions, CRUST-Bench captures the challenges of translating complex projects with dependencies across multiple files. The provided Rust interfaces provide explicit specifications that ensure adherence to idiomatic, memory-safe Rust patterns, while the accompanying test cases enforce functional correctness. We evaluate state-of-the-art large language models (LLMs) on this task and find that safe and idiomatic Rust generation is still a challenging problem for various state-of-the-art methods and techniques. We also provide insights into the errors LLMs usually make in transpiling code from C to safe Rust. The best performing model, OpenAI o1, is able to solve only 15 tasks in a single-shot setting. Improvements on CRUST-Bench would lead to improved transpilation systems that can reason about complex scenarios and help in migrating legacy codebases from C into languages like Rust that ensure memory safety. You can find the dataset and code at https://github.com/anirudhkhatry/CRUST-bench.

Robert Zhang, Rachael Stolzenberg-Solomon, Shannon M. Lynch et al.

Machine learning (ML) research has yielded powerful tools for training accurate prediction models despite complex multivariate associations (e.g. interactions and heterogeneity). In fields such as medicine, improved interpretability of ML modeling is required for knowledge discovery, accountability, and fairness. Rule-based ML approaches such as Learning Classifier Systems (LCSs) strike a balance between predictive performance and interpretability in complex, noisy domains. This work introduces the LCS Discovery and Visualization Environment (LCS-DIVE), an automated LCS model interpretation pipeline for complex biomedical classification. LCS-DIVE conducts modeling using a new scikit-learn implementation of ExSTraCS, an LCS designed to overcome noise and scalability in biomedical data mining yielding human readable IF:THEN rules as well as feature-tracking scores for each training sample. LCS-DIVE leverages feature-tracking scores and/or rules to automatically guide characterization of (1) feature importance (2) underlying additive, epistatic, and/or heterogeneous patterns of association, and (3) model-driven heterogeneous instance subgroups via clustering, visualization generation, and cluster interrogation. LCS-DIVE was evaluated over a diverse set of simulated genetic and benchmark datasets encoding a variety of complex multivariate associations, demonstrating its ability to differentiate between them and then applied to characterize associations within a real-world study of pancreatic cancer.

Nan Tian, Jinfa Chen, Mas Ma et al.

Cloud Robotics is a paradigm where distributed robots are connected to cloud services via networks to access unlimited computation power, at the cost of network communication. However, due to limitations such as network latency and variability, it is difficult to control dynamic, human compliant service robots directly from the cloud. In this work, by leveraging asynchronous protocol with a heartbeat signal, we combine cloud robotics with a smart edge device to build a Fog Robotic system. We use the system to enable robust teleoperation of a dynamic self-balancing robot from the cloud. We first use the system to pick up boxes from static locations, a task commonly performed in warehouse logistics. To make cloud teleoperation more efficient, we deploy image based visual servoing (IBVS) to perform box pickups automatically. Visual feedbacks, including apriltag recognition and tracking, are performed in the cloud to emulate a Fog Robotic object recognition system for IBVS. We demonstrate the feasibility of real-time dynamic automation system using this cloud-edge hybrid, which opens up possibilities of deploying dynamic robotic control with deep-learning recognition systems in Fog Robotics. Finally, we show that Fog Robotics enables the self-balancing service robot to pick up a box automatically from a person under unstructured environments.