We investigate the problem of collaborative tree exploration with complete communication introduced by [FGKP06], in which a group of $k$ agents is assigned to collectively go through all edges of an unknown tree in an efficient manner and then return to the origin. The agents have unrestricted communication and computation capabilities. The algorithm's runtime is typically compared to the cost of offline traversal, which is at least $\max\{2n/k,2D\}$ where $n$ is the number of nodes and $D$ is the tree depth. Since its introduction, two types of guarantee have emerged on the topic: the first is of the form $r(k)(n/k+D)$, where $r(k)$ is called the competitive ratio, and the other is of the form $2n/k+f(k,D)$, where $f(k,D)$ is called the competitive overhead. In this paper, we present the first algorithm with linear-in-$D$ competitive overhead, thereby reconciling both approaches. Specifically, our bound is in $2n/k + O(k^{\log_2 k} D)$ and thus leads to a competitive ratio in $O(k/\exp(0.8\sqrt{\ln k}))$. This is the first improvement over the $O(k/\ln k)$-competitive algorithm known since the introduction of the problem in 2004. Our algorithm is obtained for an asynchronous generalization of collective tree exploration (ACTE). It is an instance of a general class of locally-greedy exploration algorithms that we define. We show that the additive overhead analysis of locally-greedy algorithms can be seen through the lens of a 2-player game that we call the tree-mining game and that could be of independent interest.
相關內容
Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose the generalized multi-level replanning TAMP framework(GMRF), blending the probabilistic completeness of sampling-based TAMP algorithm with the robustness of reactive replanning. GMRF generates an nominal plan from the initial state, then dynamically reconstructs this nominal plan in real-time, reorders robot manipulations. Following the logic-level adjustment, GMRF will try to replan a new motion path to ensure the updated plan is feasible at the motion level. Finally, we conducted real-world experiments involving stack and rearrange task domains. The result demonstrate GMRF's ability to swiftly complete tasks in scenarios with varying degrees of interference.
As cyclones become more intense due to climate change, the rise of AI-based modelling provides a more affordable and accessible approach compared to traditional methods based on mathematical models. This work leverages diffusion models to forecast cyclone trajectories and precipitation patterns by integrating satellite imaging, remote sensing, and atmospheric data, employing a cascaded approach that incorporates forecasting, super-resolution, and precipitation modelling, with training on a dataset of 51 cyclones from six major basins. Experiments demonstrate that the final forecasts from the cascaded models show accurate predictions up to a 36-hour rollout, with SSIM and PSNR values exceeding 0.5 and 20 dB, respectively, for all three tasks. This work also highlights the promising efficiency of AI methods such as diffusion models for high-performance needs, such as cyclone forecasting, while remaining computationally affordable, making them ideal for highly vulnerable regions with critical forecasting needs and financial limitations. Code accessible at \url{//github.com/nathzi1505/forecast-diffmodels}.
Robust fine-tuning aims to achieve competitive in-distribution (ID) performance while maintaining the out-of-distribution (OOD) robustness of a pre-trained model when transferring it to a downstream task. Recently, projected gradient descent has been successfully used in robust fine-tuning by constraining the deviation from the initialization of the fine-tuned model explicitly through projection. However, algorithmically, two limitations prevent this method from being adopted more widely, scalability and efficiency. In this paper, we propose a new projection-based fine-tuning algorithm, Fast Trainable Projection (FTP) for computationally efficient learning of per-layer projection constraints, resulting in an average $35\%$ speedup on our benchmarks compared to prior works. FTP can be combined with existing optimizers such as AdamW, and be used in a plug-and-play fashion. Finally, we show that FTP is a special instance of hyper-optimizers that tune the hyper-parameters of optimizers in a learnable manner through nested differentiation. Empirically, we show superior robustness on OOD datasets, including domain shifts and natural corruptions, across four different vision tasks with five different pre-trained models. Additionally, we demonstrate that FTP is broadly applicable and beneficial to other learning scenarios such as low-label and continual learning settings thanks to its easy adaptability. The code will be available at //github.com/GT-RIPL/FTP.git.
Random forests are a popular class of algorithms used for regression and classification. The algorithm introduced by Breiman in 2001 and many of its variants are ensembles of randomized decision trees built from axis-aligned partitions of the feature space. One such variant, called Mondrian forests, was proposed to handle the online setting and is the first class of random forests for which minimax rates were obtained in arbitrary dimension. However, the restriction to axis-aligned splits fails to capture dependencies between features, and random forests that use oblique splits have shown improved empirical performance for many tasks. In this work, we show that a large class of random forests with general split directions also achieve minimax optimal convergence rates in arbitrary dimension. This class includes STIT forests, a generalization of Mondrian forests to arbitrary split directions, as well as random forests derived from Poisson hyperplane tessellations. These are the first results showing that random forest variants with oblique splits can obtain minimax optimality in arbitrary dimension. Our proof technique relies on the novel application of the theory of stationary random tessellations in stochastic geometry to statistical learning theory.
Humans can naturally and effectively find salient regions in complex scenes. Motivated by this observation, attention mechanisms were introduced into computer vision with the aim of imitating this aspect of the human visual system. Such an attention mechanism can be regarded as a dynamic weight adjustment process based on features of the input image. Attention mechanisms have achieved great success in many visual tasks, including image classification, object detection, semantic segmentation, video understanding, image generation, 3D vision, multi-modal tasks and self-supervised learning. In this survey, we provide a comprehensive review of various attention mechanisms in computer vision and categorize them according to approach, such as channel attention, spatial attention, temporal attention and branch attention; a related repository //github.com/MenghaoGuo/Awesome-Vision-Attentions is dedicated to collecting related work. We also suggest future directions for attention mechanism research.
We consider the problem of explaining the predictions of graph neural networks (GNNs), which otherwise are considered as black boxes. Existing methods invariably focus on explaining the importance of graph nodes or edges but ignore the substructures of graphs, which are more intuitive and human-intelligible. In this work, we propose a novel method, known as SubgraphX, to explain GNNs by identifying important subgraphs. Given a trained GNN model and an input graph, our SubgraphX explains its predictions by efficiently exploring different subgraphs with Monte Carlo tree search. To make the tree search more effective, we propose to use Shapley values as a measure of subgraph importance, which can also capture the interactions among different subgraphs. To expedite computations, we propose efficient approximation schemes to compute Shapley values for graph data. Our work represents the first attempt to explain GNNs via identifying subgraphs explicitly and directly. Experimental results show that our SubgraphX achieves significantly improved explanations, while keeping computations at a reasonable level.
Graph Neural Networks (GNNs), which generalize deep neural networks to graph-structured data, have drawn considerable attention and achieved state-of-the-art performance in numerous graph related tasks. However, existing GNN models mainly focus on designing graph convolution operations. The graph pooling (or downsampling) operations, that play an important role in learning hierarchical representations, are usually overlooked. In this paper, we propose a novel graph pooling operator, called Hierarchical Graph Pooling with Structure Learning (HGP-SL), which can be integrated into various graph neural network architectures. HGP-SL incorporates graph pooling and structure learning into a unified module to generate hierarchical representations of graphs. More specifically, the graph pooling operation adaptively selects a subset of nodes to form an induced subgraph for the subsequent layers. To preserve the integrity of graph's topological information, we further introduce a structure learning mechanism to learn a refined graph structure for the pooled graph at each layer. By combining HGP-SL operator with graph neural networks, we perform graph level representation learning with focus on graph classification task. Experimental results on six widely used benchmarks demonstrate the effectiveness of our proposed model.
Recently, graph neural networks (GNNs) have revolutionized the field of graph representation learning through effectively learned node embeddings, and achieved state-of-the-art results in tasks such as node classification and link prediction. However, current GNN methods are inherently flat and do not learn hierarchical representations of graphs---a limitation that is especially problematic for the task of graph classification, where the goal is to predict the label associated with an entire graph. Here we propose DiffPool, a differentiable graph pooling module that can generate hierarchical representations of graphs and can be combined with various graph neural network architectures in an end-to-end fashion. DiffPool learns a differentiable soft cluster assignment for nodes at each layer of a deep GNN, mapping nodes to a set of clusters, which then form the coarsened input for the next GNN layer. Our experimental results show that combining existing GNN methods with DiffPool yields an average improvement of 5-10% accuracy on graph classification benchmarks, compared to all existing pooling approaches, achieving a new state-of-the-art on four out of five benchmark data sets.
Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.
Semantic Role Labeling (SRL) is believed to be a crucial step towards natural language understanding and has been widely studied. Recent years, end-to-end SRL with recurrent neural networks (RNN) has gained increasing attention. However, it remains a major challenge for RNNs to handle structural information and long range dependencies. In this paper, we present a simple and effective architecture for SRL which aims to address these problems. Our model is based on self-attention which can directly capture the relationships between two tokens regardless of their distance. Our single model achieves F$_1=83.4$ on the CoNLL-2005 shared task dataset and F$_1=82.7$ on the CoNLL-2012 shared task dataset, which outperforms the previous state-of-the-art results by $1.8$ and $1.0$ F$_1$ score respectively. Besides, our model is computationally efficient, and the parsing speed is 50K tokens per second on a single Titan X GPU.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191