Fast Autonomous Robotic Exploration Using the Underlying Graph Structure

Author(s):  
Julio A. Placed ◽  
Jose A. Castellanos
Information ◽  
2020 ◽  
Vol 11 (11) ◽  
pp. 525
Author(s):  
Franz Hell ◽  
Yasser Taha ◽  
Gereon Hinz ◽  
Sabine Heibei ◽  
Harald Müller ◽  
...  

Recent advancements in deep neural networks for graph-structured data have led to state-of-the-art performance in recommender system benchmarks. Adapting these methods to pharmacy product cross-selling recommendation tasks with a million products and hundreds of millions of sales remains a challenge, due to the intricate medical and legal properties of pharmaceutical data. To tackle this challenge, we developed a graph convolutional network (GCN) algorithm called PharmaSage, which uses graph convolutions to generate embeddings for pharmacy products, which are then used in a downstream recommendation task. In the underlying graph, we incorporate both cross-sales information from the sales transaction within the graph structure, as well as product information as node features. Via modifications to the sampling involved in the network optimization process, we address a common phenomenon in recommender systems, the so-called popularity bias: popular products are frequently recommended, while less popular items are often neglected and recommended seldomly or not at all. We deployed PharmaSage using real-world sales data and trained it on 700,000 articles represented as nodes in a graph with edges between nodes representing approximately 100 million sales transactions. By exploiting the pharmaceutical product properties, such as their indications, ingredients, and adverse effects, and combining these with large sales histories, we achieved better results than with a purely statistics based approach. To our knowledge, this is the first application of deep graph embeddings for pharmacy product cross-selling recommendation at this scale to date.


Author(s):  
Diego Figueira ◽  
Santiago Figueira ◽  
Edwin Pin Baque

Finite ontology mediated query answering (FOMQA) is the variant of ontology mediated query answering (OMQA) where the represented world is assumed to be finite, and thus only finite models of the ontology are considered. We study the property of finite-controllability, that is, whether FOMQA and OMQA are equivalent, for fragments of C2RPQ. C2RPQ is the language of conjunctive two-way regular path queries, which can be regarded as the result of adding simple recursion to Conjunctive Queries. For graph classes S, we consider fragments C2RPQ(S) of C2RPQ as the queries whose underlying graph structure is in S. We completely classify the finitely controllable and non-finitely controllable fragments under: inclusion dependencies, (frontier-)guarded rules, frontier-one rules (either with or without constants), and more generally under guarded-negation first-order constraints. For the finitely controllable fragments, we show a reduction to the satisfiability problem for guarded-negation first-order logic, yielding a 2EXPTIME algorithm (in combined complexity) for the corresponding (F)OMQA problem.


Algorithmica ◽  
2021 ◽  
Author(s):  
Dan Alistarh ◽  
Giorgi Nadiradze ◽  
Amirmojtaba Sabour

AbstractWe consider the following dynamic load-balancing process: given an underlying graph G with n nodes, in each step $$t\ge 0$$ t ≥ 0 , a random edge is chosen, one unit of load is created, and placed at one of the endpoints. In the same step, assuming that loads are arbitrarily divisible, the two nodes balance their loads by averaging them. We are interested in the expected gap between the minimum and maximum loads at nodes as the process progresses, and its dependence on n and on the graph structure. Peres et al. (Random Struct Algorithms 47(4):760–775, 2015) studied the variant of this process, where the unit of load is placed in the least loaded endpoint of the chosen edge, and the averaging is not performed. In the case of dynamic load balancing on the cycle of length n the only known upper bound on the expected gap is of order $$\mathcal {O}( n \log n )$$ O ( n log n ) , following from the majorization argument due to the same work. In this paper, we leverage the power of averaging and provide an improved upper bound of $$\mathcal {O} ( \sqrt{n} \log n )$$ O ( n log n ) . We introduce a new potential analysis technique, which enables us to bound the difference in load between k-hop neighbors on the cycle, for any $$k \le n/2$$ k ≤ n / 2 . We complement this with a “gap covering” argument, which bounds the maximum value of the gap by bounding its value across all possible subsets of a certain structure, and recursively bounding the gaps within each subset. We also show that our analysis can be extended to the specific instance of Harary graphs. On the other hand, we prove that the expected second moment of the gap is lower bounded by $$\Omega (n)$$ Ω ( n ) . Additionally, we provide experimental evidence that our upper bound on the gap is tight up to a logarithmic factor.


2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Mahmoud Ramezani Mayiami ◽  
Mohammad Hajimirsadeghi ◽  
Karl Skretting ◽  
Xiaowen Dong ◽  
Rick S. Blum ◽  
...  

AbstractLearning the topology of a graph from available data is of great interest in many emerging applications. Some examples are social networks, internet of things networks (intelligent IoT and industrial IoT), biological connection networks, sensor networks and traffic network patterns. In this paper, a graph topology inference approach is proposed to learn the underlying graph structure from a given set of noisy multi-variate observations, which are modeled as graph signals generated from a Gaussian Markov Random Field (GMRF) process. A factor analysis model is applied to represent the graph signals in a latent space where the basis is related to the underlying graph structure. An optimal graph filter is also developed to recover the graph signals from noisy observations. In the final step, an optimization problem is proposed to learn the underlying graph topology from the recovered signals. Moreover, a fast algorithm employing the proximal point method has been proposed to solve the problem efficiently. Experimental results employing both synthetic and real data show the effectiveness of the proposed method in recovering the signals and inferring the underlying graph.


Author(s):  
Ayumi Igarashi ◽  
Jakub Sliwinski ◽  
Yair Zick

A community needs to be partitioned into disjoint groups; each community member has an underlying preference over the groups that they would want to be a member of. We are interested in finding a stable community structure: one where no subset of members S wants to deviate from the current structure. We model this setting as a hedonic game, where players are connected by an underlying interaction network, and can only consider joining groups that are connected subgraphs of the underlying graph. We analyze the relation between network structure, and one’s capability to infer statistically stable (also known as PAC stable) player partitions from data. We show that when the interaction network is a forest, one can efficiently infer PAC stable coalition structures. Furthermore, when the underlying interaction graph is not a forest, efficient PAC stabilizability is no longer achievable. Thus, our results completely characterize when one can leverage the underlying graph structure in order to compute PAC stable outcomes for hedonic games. Finally, given an unknown underlying interaction network, we show that it is NP-hard to decide whether there exists a forest consistent with data samples from the network.


2012 ◽  
Vol 44 ◽  
pp. 97-140 ◽  
Author(s):  
D. D. Maua ◽  
C. P. De Campos ◽  
M. Zaffalon

We present a new algorithm for exactly solving decision making problems represented as influence diagrams. We do not require the usual assumptions of no forgetting and regularity; this allows us to solve problems with simultaneous decisions and limited information. The algorithm is empirically shown to outperform a state-of-the-art algorithm on randomly generated problems of up to 150 variables and 10^64 solutions. We show that these problems are NP-hard even if the underlying graph structure of the problem has low treewidth and the variables take on a bounded number of states, and that they admit no provably good approximation if variables can take on an arbitrary number of states.


2019 ◽  
Author(s):  
Milena Rmus ◽  
Harrison Ritz ◽  
Lindsay E Hunter ◽  
Aaron M Bornstein ◽  
Amitai Shenhav

AbstractTo behave adaptively, people must choose actions that maximize their expected future rewards. Engaging in such goal-directed decision-making in turn requires the capacity to (1) develop an internal model of one’s environment (i.e., representing the relationship between current and future states; structure inference), and (2) navigate this cognitive model to determine the action(s) that will lead to the most rewarding future state (model-based planning). While previous work has identified putative mechanisms underlying these two processes, it has yet to test the prediction that one’s ability to infer structure should constrain their ability to engage in model-based planning. Here we test this prediction using a novel task we developed to specifically isolate individual differences in structure inference ability. Participants (N=77) viewed a series of object pairs. Unbeknownst to them, each pair was drawn at random from adjacent nodes in an underlying graph. They then performed two tasks that measured the extent to which participants were able to infer the graph structure from these disjointed pairs: (1) judging the relative distances of sets of three nodes, (2) constructing the graph. We identified a single underlying factor that captured variability in performance across these tasks, and showed that this variability in this measure of structure inference ability was selectively associated with the extent to which participants exhibited model-based planning in the two-step task (Daw et al., 2011), a well-characterized assay of such behavior. Our work validates a new method for isolating one’s capacity for structure inference, and confirms that individuals who are more limited in this capacity are less likely to engage in model-based planning. These findings bridge separate areas of research that examine goal-directed planning and its component processes. They further provide a path towards better understanding deficits in these component processes, and how they constrain one’s ability to achieve long-term goals.


2001 ◽  
Author(s):  
Patricia Pengra ◽  
Stephen Johnson ◽  
Mark Saunders

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