Ciro Santilli @cirosantilli 35

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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From Motor Control to Team Play in Simulated Humanoid Football

Video 1.

From Motor Control to Team Play in Simulated Humanoid Football by Ali Eslami (2023)

Source. Likely a reupload by DeepMind employee: www.linkedin.com/in/smalieslami.

Video 2.

DeepMind’s AI Trained For 5 Years by Two Minute Papers (2023)

Source. The 5 years bullshit is of course in-game time clickbait, they simulate 1000x faster than realtime.

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Ubuntu 23.04 boot broken on kernel 6.2 by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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On Lenovo ThinkPad P51 (2017).

Switching to the other installed kernel, 5.9 made boot work.

The solution on kernel 6.2 was:

sudo apt instal nvidia-driver-515

as per comments under: bugs.launchpad.net/ubuntu/+source/linux/+bug/2012559. This also made the nvidia driver work: Find GPU information in Ubuntu.

Previously I had:

nvidia-driver-510

and it blew up before reaching disk decryption.

I also tried:

nvidia-driver-525

but that broke in a different way:

Finished apport-autoreport.service - Process error reports when automatic reporting is enabled.
nvidia-modeset: ERROR: GPU:0: Idling display engine timed out: 0x0000947d:0:0:407
(1 of 2) Job systemd-backlight@backlight: nvidia_e.service/start running (32s no limit)

Some threads:

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DELETE with JOIN (SQL) by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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Demo under: nodejs/sequelize/raw/many_to_many.js.

NO way in the SQL standard apparently, but you'd hope that implementation status would be similar to UPDATE with JOIN, but not even!

PostgreSQL: possible with DELETE FROM USING: stackoverflow.com/questions/11753904/postgresql-delete-with-inner-join
SQLite: not possible without subqueries as of 3.35 far: stackoverflow.com/questions/24511153/how-delete-table-inner-join-with-other-table-in-sqlite, Does not appear to have any relevant features at: www.sqlite.org/lang_delete.html

ORM

Sequelize: no support of course: stackoverflow.com/questions/40890131/sequelize-destroy-record-with-join

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Upsert with NOT NULL column by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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Attempt at nodejs/sequelize/raw/upsert.js:

stackoverflow.com/questions/48816629/on-conflict-do-nothing-in-postgres-with-a-not-null-constraint OP unable to provide a minimal exampe, but it is likely the problem
dba.stackexchange.com/questions/292428/postgresql-upsert-issue-with-not-null-columns

Related on more complex constraints:

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AlphaGo Zero open source implementation by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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tket by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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github.com/CQCL/tket

TODO vs all the others?

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MiniGo by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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github.com/tensorflow/minigo

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Quantum approximate optimization algorithm by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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TODO clear example of the computational problem that it solves.

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Quadratic unconstrained binary optimization by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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Sequelize raw query by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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Exampes under nodejs/sequelize/raw:

nodejs/sequelize/raw/index.js: Sequelize raw query hello world. Ideally one should never use a raw query in a real project. We use raw examples mostly as a SQL tutorial under SQL example, and will not comment on them much further on this section.

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@cirosantilli/_file/nodejs/sequelize/nodejs/sequelize/parallel_select_and_update.js by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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This example is the same as nodejs/sequelize/raw/parallel_select_and_update.js, but going through Sequelize rather than with Sequelize raw queries. NONE is not supported for now to not have a transaction at all because lazy.

The examples illustrates: stackoverflow.com/questions/55452441/for-share-and-for-update-statements-in-sequelize

Sample invocation:

node --unhandled-rejections=strict ./parallel_select_and_update.js p 10 100 READ_COMMITTED UPDATE

where:

READ_COMMITTED: one of the keys documented at: sequelize.org/master/class/lib/transaction.js~Transaction.html which correspond to the standard sQL isolation levels. It not given, don't set one, defaulting to the database's/sequelize's default level.
UPDATE: one of the keys documented at: sequelize.org/master/class/lib/transaction.js~Transaction.html#static-get-LOCK. Update generates a SELECT FOR UPDATE in PostgreSQL for example. If not given, don't use any FOR xxx explicit locking.

Other examples:

node --unhandled-rejections=strict ./parallel_select_and_update.js p 10 100 READ_COMMITTED UPDATE

Then, the outcome is exactly as described at: nodejs/sequelize/raw/parallel_select_and_update.js:

READ_COMMITTED: fails
READ_COMMITTED UPDATE: works
REPEATABLE_READ: works, but is a bit slower, as it does rollbacks
This case also illustrates Sequelize transaction retries, since in this transaction isolation level transactions may fail:

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@cirosantilli/_file/nodejs/sequelize/raw/nodejs/sequelize/raw/parallel_update_async.js by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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nodejs/sequelize/raw/parallel_update_worker_threads.js contains a base example that can be used to test what can happen when queries are being run in parallel. But it is broken due to a sqlite3 Node.js package bug: github.com/mapbox/node-sqlite3/issues/1381...

nodejs/sequelize/raw/parallel_update_async.js is an async version of it. It should be just parallel enough to allow observing the same effects.

This is an example of a transaction where the SQL READ COMMITTED isolation level if sufficient.

These examples run queries of type:

UPDATE "MyInt" SET i = i + 1

Sample execution:

node --unhandled-rejections=strict ./parallel_update_async.js p 10 100

which does:

PostgreSQL, see other databases options at SQL example
10 threads
100 increments on each thread

The fear then is that of a classic read-modify-write failure.

But as www.postgresql.org/docs/14/transaction-iso.html page makes very clear, including with an explicit example of type UPDATE accounts SET balance = balance + 100.00 WHERE acctnum = 12345;, that the default isolation level, SQL READ COMMITTED isolation level, already prevents any problems with this, as the update always re-reads selected rows in case they were previously modified.

If the first updater commits, the second updater will ignore the row if the first updater deleted it, otherwise it will attempt to apply its operation to the updated version of the row

Since in PostgreSQL "Read uncommitted" appears to be effectively the same as "Read committed", we won't be able to observe any failures on that database system for this example.

nodejs/sequelize/raw/parallel_create_delete_empty_tag.js contains an example where things can actually blow up in read committed.

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@cirosantilli/_file/nodejs/sequelize/raw/nodejs/sequelize/raw/parallel_select_and_update.js by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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This example is similar to nodejs/sequelize/raw/parallel_update_async.js, but now we are doing a separate SELECT, later followed by an update:

SELECT FROM to get i
update on Js code newI = i + 1
UPDATE SET the newI

Although this specific example is useless in itself, as we could just use UPDATE "MyInt" SET i = i + 1 as in nodejs/sequelize/raw/parallel_update_async.js, which automatically solves any concurrency issue, this kind of code could be required for example if the update was a complex function not suitably implemented in SQL, or if the update depends on some external data source.

Sample execution:

node --unhandled-rejections=strict ./parallel_select_and_update.js p 2 10 'READ COMMITTED'

which does:

PostgreSQL, see other databases options at SQL example
2 threads
10 increments on each thread

Another one:

node --unhandled-rejections=strict ./parallel_select_and_update.js p 2 10 'READ COMMITTED' 'FOR UPDATE'

this will run SELECT FOR UPDATE rather than just SELECT

Observed behaviour under different SQL transaction isolation levels:

READ COMMITTED: fails. Nothing in this case prevents:
- thread 1: SELECT, obtains i = 0
- thread 2: SELECT, obtains i = 0
- thread 2: newI = 1
- thread 2: UPDATE i = 1
- thread 1: newI = 1
- thread 1: UPDATE i = 1
REPEATABLE READ: works. the manual mentions that if multiple concurrent updates would happen, only the first commit succeeds, and the following ones fail and rollback and retry, therefore preventing the loss of an update.
READ COMMITTED + SELECT FOR UPDATE: works. And does not do rollbacks, which probably makes it faster. With p 10 100, REPEATABLE READ was about 4.2s and READ COMMITTED + SELECT FOR UPDATE 3.2s on Lenovo ThinkPad P51 (2017).
SELECT FOR UPDATE should be enough as mentioned at: www.postgresql.org/docs/13/explicit-locking.html#LOCKING-ROWS
FOR UPDATE causes the rows retrieved by the SELECT statement to be locked as though for update. This prevents them from being locked, modified or deleted by other transactions until the current transaction ends. That is, other transactions that attempt UPDATE, DELETE, SELECT FOR UPDATE, SELECT FOR NO KEY UPDATE, SELECT FOR SHARE or SELECT FOR KEY SHARE of these rows will be blocked until the current transaction ends; conversely, SELECT FOR UPDATE will wait for a concurrent transaction that has run any of those commands on the same row, and will then lock and return the updated row (or no row, if the row was deleted). Within a REPEATABLE READ or SERIALIZABLE transaction, however, an error will be thrown if a row to be locked has changed since the transaction started. For further discussion see Section 13.4.

A non-raw version of this example can be seen at: nodejs/sequelize/parallel_select_and_update.js.

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@cirosantilli/_file/nodejs/sequelize/raw/nodejs/sequelize/raw/parallel_select_and_update_deterministic.js by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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This example contains a deterministic demo of when postgreSQL serialization failures may happen.

Tested on PostgreSQL 13.5.

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@cirosantilli/_file/nodejs/sequelize/raw/nodejs/sequelize/raw/parallel_create_delete_empty_tag.js by

Ciro Santilli 35  Updated 2025-03-28  +Created 1970-01-01

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In this example, posts have tags. When a post is deleted, we check to see if there are now any empty tags, and now we want to delete any empty tags that the post deletion may have created.

If we are creating and deleting posts concurrently, a naive implementation might wrongly delete the tags of a newly created post.

This could be due to a concurrency issue of the following types.

Failure case 1:

thread 2: delete old post
thread 2: find all tags with 0 posts. Finds tag0 from the deleted old post which is now empty.
thread 1: create new post, which we want to have tag tag0
thread 1: try to create a new tag tag0, but don't because it already exists, this is done using SQLite's INSERT OR IGNORE INTO or PostgreSQL's INSERT ... ON CONFLICT DO NOTHING
thread 1: assign tag0 to the new post by adding an entry to the join table
thread 2: delete all tags with 0 posts. It still sees from its previous search that tag0 is empty, and deletes it, which then cascades into the join table

which would result in the new post incorrectly not having the tag0.

Failure case 2:

thread 2: delete old post
thread 2: find all tags with 0 posts
thread 1: create new post
thread 1: try to create a new tag tag0, but don't because it already exists
thread 2: delete all tags with 0 posts. It still sees from its previous search that tag0 is empty, and deletes it
thread 1: assign tag0 to the new post

which leads to a foreign key failure, because the tag does not exist anymore when the assignment happens.

Failure case 3:

thread 2: delete old post
thread 1: create new post, which we want to have tag tag0
thread 1: try to create a new tag tag0, and succeed because it wasn't present
thread 2: find all tags with 0 posts, finds the tag that was just created
thread 2: delete all tags with 0 posts, deleting the new tag
thread 1: assign tag0 to the new post

which leads to a foreign key failure, because the tag does not exist anymore when the assignment happens.

Sample executions:

node --unhandled-rejections=strict ./parallel_create_delete_empty_tag.js p 9 1000 'READ COMMITTED': PostgreSQL, 9 tags, DELETE/CREATE the tag0 test tag 1000 times, use READ COMMITTED
Execution often fails, although not always. The failure is always:
```
error: insert or update on table "PostTag" violates foreign key constraint "PostTag_tagId_fkey"
```
because the:
```
INSERT INTO "PostTag"
```
tries to insert a tag that was deleted in the other thread, as it didn't have any corresponding posts, so this is the foreign key failure.
TODO: we've never managed to observe the failure case in which tag0 is deleted. Is it truly possible? And if not, by which guarantee?
node --unhandled-rejections=strict ./parallel_create_delete_empty_tag.js p 9 1000 'READ COMMITTED' 'FOR UPDATE': do a SELECT ... FOR UPDATE before trying to INSERT.
This is likely correct and the fastest correct method according to our quick benchmarking, about 20% faster than REPEATABLE READ.
We are just now 100% sure it is corret becase we can't find out if the SELECT in the DELETE subquery could first select some rows, which are then locked by the tag creator, and only then locked by DELETE after selection. Or does it re-evaludate the SELECT even though it is in a subquery?
node --unhandled-rejections=strict ./parallel_create_delete_empty_tag.js p 9 1000 'REPEATABLE READ': repeatable read
We've never observed any failures with this level. This should likely fix the foreign key issue according to the PostgreSQL docs, since:
- the DELETE "Post" commit cannot start to be seen only in the middle of the thread 1 transaction
- and then if DELETE happened, the thread 1 transaction will detect it, ROLLBACK, and re-run. TODO how does it detect the need rollback? Is it because of the foreign key? It is very hard to be sure about this kind of thing, just can't find the information. Related: postgreSQL serialization failure.
node --unhandled-rejections=strict ./parallel_create_delete_empty_tag.js p 9 1000 'SERIALIZABLE': serializable
node --unhandled-rejections=strict ./parallel_create_delete_empty_tag.js p 9 1000 'NONE': magic value, don't use any transaction. Can blow up of course, since even less restrictions than READ COMMITTED

All executions use 2 threads.

Some theoretical notes:

Failure case 3 is averted by a READ COMMITTED transaction, because thread 2 won't see the uncommitted tag that thread 1 created, and therefore won't be able to delete it

stackoverflow.com/questions/10935850/when-to-use-select-for-update from SELECT FOR UPDATE also talks about a similar example, and has relevant answers.

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