Query Optimization for Dynamic Imputation José Cambronero⇤ John K. Feser⇤ Micah J. Smith⇤ Samuel Madden MIT CSAIL MIT CSAIL MIT LIDS MIT CSAIL
[email protected] [email protected] [email protected] [email protected] ABSTRACT smaller than the entire database. While traditional imputation Missing values are common in data analysis and present a methods work over the entire data set and replace all missing usability challenge. Users are forced to pick between removing values, running a sophisticated imputation algorithm over a tuples with missing values or creating a cleaned version of their large data set can be very expensive: our experiments show data by applying a relatively expensive imputation strategy. that even a relatively simple decision tree algorithm takes just Our system, ImputeDB, incorporates imputation into a cost- under 6 hours to train and run on a 600K row database. based query optimizer, performing necessary imputations on- Asimplerapproachmightdropallrowswithanymissing the-fly for each query. This allows users to immediately explore values, which can not only introduce bias into the results, but their data, while the system picks the optimal placement of also result in discarding much of the data. In contrast to exist- imputation operations. We evaluate this approach on three ing systems [2, 4], ImputeDB avoids imputing over the entire real-world survey-based datasets. Our experiments show that data set. Specifically,ImputeDB carefully plans the placement our query plans execute between 10 and 140 times faster than of imputation or row-drop operations inside the query plan, first imputing the base tables. Furthermore, we show that resulting in a significant speedup in query execution while the query results from on-the-fly imputation differ from the reducing the number of dropped rows.