The problem of decentralized multi-robot target tracking asks for jointly selecting actions, e.g., motion primitives, for the robots to maximize target tracking performance with local communications. One major challenge for practical implementations is to make target tracking approaches scalable for large-scale problem instances. In this work, we propose a general-purpose learning architecture toward collaborative target tracking at scale, with decentralized communications. Particularly, our learning architecture leverages a graph neural network (GNN) to capture local interactions of the robots and learns decentralized decision-making for the robots. We train the learning model by imitating an expert solution and implement the resulting model for decentralized action selection involving local observations and communications only. We demonstrate the performance of our GNN-based learning approach in a scenario of active target tracking with large networks of robots. The simulation results show our approach nearly matches the tracking performance of the expert algorithm, and yet runs several orders faster with up to 100 robots. Moreover, it slightly outperforms a decentralized greedy algorithm but runs faster (especially with more than 20 robots). The results also exhibit our approach's generalization capability in previously unseen scenarios, e.g., larger environments and larger networks of robots.
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This paper tackles the under-explored problem of DOM element nomination and representation learning with three important contributions. First, we present a large-scale and realistic dataset of webpages, far richer and more diverse than other datasets proposed for element representation learning, classification and nomination on the web. The dataset contains $51,701$ manually labeled product pages from $8,175$ real e-commerce websites. Second, we adapt several Graph Neural Network (GNN) architectures to website DOM trees and benchmark their performance on a diverse set of element nomination tasks using our proposed dataset. In element nomination, a single element on a page is selected for a given class. We show that on our challenging dataset a simple Convolutional GNN outperforms state-of-the-art methods on web element nomination. Finally, we propose a new training method that further boosts the element nomination accuracy. In nomination for the web, classification (assigning a class to a given element) is usually used as a surrogate objective for nomination during training. Our novel training methodology steers the classification objective towards the more complex and useful nomination objective.
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the question of how to effectively handle these teams considering the different characteristics of the involved agents. For this reason, this paper presents a framework for task allocation in a human multi-robot collaborative scenario. The proposed solution combines an optimal offline allocation with an online reallocation strategy which accounts for inaccuracies of the offline plan and/or unforeseen events, human subjective preferences and cost of switching from one task to another so as to increase human satisfaction and team efficiency. Experiments are presented for the case of two manipulators cooperating with a human operator for performing a box filling task.
Blockchain is considered to be the critical backbone technology for secure and trusted Internet of Things (IoT) on the future 6G network.However, the IoT network is usually with the complex wireless environment, where the communication is not reliable and the connectivity is complicated. Deploying a blockchain system in the complex wireless IoT network is challenging. Due to the limited resources, complex wireless environment and the property of self-interest, IoT devices do not have the internal motivation to consume energy and time to maintain the blockchain. Furthermore, existing incentive mechanism in blockchain is not compatible well with the wireless IoT network. In this paper, to incentivize IoT devices to join the construction of the wireless blockchain network, we propose a multi dimentional contract which optimizes the blockchain utility while addressing the issues of adverse selection and moral hazard. Specifically, the proposed contract not only considers the IoT devices' hash rate and transmission power, but also explores the network connectivity from the perspective of the network complexity. We incestigate the impact of these factors on energy consumption and the block confirmation probability by the experiments under different network sizes and average link probability. Numerical results demonstrate that our proposed contract mechanism is feasible and effective. Compared with the contract with adverse selection, the proposed contract improves blockchain utility by 35%, which is closer to the perfect information contract.
As the interest to Graph Neural Networks (GNNs) is growing, the importance of benchmarking and performance characterization studies of GNNs is increasing. So far, we have seen many studies that investigate and present the performance and computational efficiency of GNNs. However, the work done so far has been carried out using a few high-level GNN frameworks. Although these frameworks provide ease of use, they contain too many dependencies to other existing libraries. The layers of implementation details and the dependencies complicate the performance analysis of GNN models that are built on top of these frameworks, especially while using architectural simulators. Furthermore, different approaches on GNN computation are generally overlooked in prior characterization studies, and merely one of the common computational models is evaluated. Based on these shortcomings and needs that we observed, we developed a benchmark suite that is framework independent, supporting versatile computational models, easily configurable and can be used with architectural simulators without additional effort. Our benchmark suite, which we call gSuite, makes use of only hardware vendor's libraries and therefore it is independent of any other frameworks. gSuite enables performing detailed performance characterization studies on GNN Inference using both contemporary GPU profilers and architectural GPU simulators. To illustrate the benefits of our new benchmark suite, we perform a detailed characterization study with a set of well-known GNN models with various datasets; running gSuite both on a real GPU card and a timing-detailed GPU simulator. We also implicate the effect of computational models on performance. We use several evaluation metrics to rigorously measure the performance of GNN computation.
The adaptive processing of structured data is a long-standing research topic in machine learning that investigates how to automatically learn a mapping from a structured input to outputs of various nature. Recently, there has been an increasing interest in the adaptive processing of graphs, which led to the development of different neural network-based methodologies. In this thesis, we take a different route and develop a Bayesian Deep Learning framework for graph learning. The dissertation begins with a review of the principles over which most of the methods in the field are built, followed by a study on graph classification reproducibility issues. We then proceed to bridge the basic ideas of deep learning for graphs with the Bayesian world, by building our deep architectures in an incremental fashion. This framework allows us to consider graphs with discrete and continuous edge features, producing unsupervised embeddings rich enough to reach the state of the art on several classification tasks. Our approach is also amenable to a Bayesian nonparametric extension that automatizes the choice of almost all model's hyper-parameters. Two real-world applications demonstrate the efficacy of deep learning for graphs. The first concerns the prediction of information-theoretic quantities for molecular simulations with supervised neural models. After that, we exploit our Bayesian models to solve a malware-classification task while being robust to intra-procedural code obfuscation techniques. We conclude the dissertation with an attempt to blend the best of the neural and Bayesian worlds together. The resulting hybrid model is able to predict multimodal distributions conditioned on input graphs, with the consequent ability to model stochasticity and uncertainty better than most works. Overall, we aim to provide a Bayesian perspective into the articulated research field of deep learning for graphs.
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.
The aim of this work is to develop a fully-distributed algorithmic framework for training graph convolutional networks (GCNs). The proposed method is able to exploit the meaningful relational structure of the input data, which are collected by a set of agents that communicate over a sparse network topology. After formulating the centralized GCN training problem, we first show how to make inference in a distributed scenario where the underlying data graph is split among different agents. Then, we propose a distributed gradient descent procedure to solve the GCN training problem. The resulting model distributes computation along three lines: during inference, during back-propagation, and during optimization. Convergence to stationary solutions of the GCN training problem is also established under mild conditions. Finally, we propose an optimization criterion to design the communication topology between agents in order to match with the graph describing data relationships. A wide set of numerical results validate our proposal. To the best of our knowledge, this is the first work combining graph convolutional neural networks with distributed optimization.
Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.
Graphs, which describe pairwise relations between objects, are essential representations of many real-world data such as social networks. In recent years, graph neural networks, which extend the neural network models to graph data, have attracted increasing attention. Graph neural networks have been applied to advance many different graph related tasks such as reasoning dynamics of the physical system, graph classification, and node classification. Most of the existing graph neural network models have been designed for static graphs, while many real-world graphs are inherently dynamic. For example, social networks are naturally evolving as new users joining and new relations being created. Current graph neural network models cannot utilize the dynamic information in dynamic graphs. However, the dynamic information has been proven to enhance the performance of many graph analytical tasks such as community detection and link prediction. Hence, it is necessary to design dedicated graph neural networks for dynamic graphs. In this paper, we propose DGNN, a new {\bf D}ynamic {\bf G}raph {\bf N}eural {\bf N}etwork model, which can model the dynamic information as the graph evolving. In particular, the proposed framework can keep updating node information by capturing the sequential information of edges, the time intervals between edges and information propagation coherently. Experimental results on various dynamic graphs demonstrate the effectiveness of the proposed framework.
Graph Neural Networks (GNNs) for representation learning of graphs broadly follow a neighborhood aggregation framework, where the representation vector of a node is computed by recursively aggregating and transforming feature vectors of its neighboring nodes. Many GNN variants have been proposed and have achieved state-of-the-art results on both node and graph classification tasks. However, despite GNNs revolutionizing graph representation learning, there is limited understanding of their representational properties and limitations. Here, we present a theoretical framework for analyzing the expressive power of GNNs in capturing different graph structures. Our results characterize the discriminative power of popular GNN variants, such as Graph Convolutional Networks and GraphSAGE, and show that they cannot learn to distinguish certain simple graph structures. We then develop a simple architecture that is provably the most expressive among the class of GNNs and is as powerful as the Weisfeiler-Lehman graph isomorphism test. We empirically validate our theoretical findings on a number of graph classification benchmarks, and demonstrate that our model achieves state-of-the-art performance.
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