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We exploit the complementary strengths of vision and proprioception to achieve point goal navigation in a legged robot. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully exploit this capability, we need the high-level path planner in the navigation system to be aware of the walking capabilities of the low-level locomotion policy on varying terrains. We achieve this by using proprioceptive feedback to estimate the safe operating limits of the walking policy, and to sense unexpected obstacles and terrain properties like smoothness or softness of the ground that may be missed by vision. The navigation system uses onboard cameras to generate an occupancy map and a corresponding cost map to reach the goal. The FMM (Fast Marching Method) planner then generates a target path. The velocity command generator takes this as input to generate the desired velocity for the locomotion policy using as input additional constraints, from the safety advisor, of unexpected obstacles and terrain determined speed limits. We show superior performance compared to wheeled robot (LoCoBot) baselines, and other baselines which have disjoint high-level planning and low-level control. We also show the real-world deployment of our system on a quadruped robot with onboard sensors and compute. Videos at //navigation-locomotion.github.io/camera-ready

Recently, graph neural networks (GNNs), as the backbone of graph-based machine learning, demonstrate great success in various domains (e.g., e-commerce). However, the performance of GNNs is usually unsatisfactory due to the highly sparse and irregular graph-based operations. To this end, we propose, TC-GNN, the first GPU Tensor Core Unit (TCU) based GNN acceleration framework. The core idea is to reconcile the "Sparse" GNN computation with "Dense" TCU. Specifically, we conduct an in-depth analysis of the sparse operations in mainstream GNN computing frameworks. We introduce a novel sparse graph translation technique to facilitate TCU processing of sparse GNN workload. We also implement an effective CUDA core and TCU collaboration design to fully utilize GPU resources. We fully integrate TC-GNN with the Pytorch framework for ease of programming. Rigorous experiments show an average of 1.70X speedup over the state-of-the-art Deep Graph Library framework across various GNN models and dataset settings.

Demonstrating quantum advantage requires experimental implementation of a computational task that is hard to achieve using state-of-the-art classical systems. One approach is to perform sampling from a probability distribution associated with a class of highly entangled many-body wavefunctions. It has been suggested that this approach can be certified with the Linear Cross-Entropy Benchmark (XEB). We critically examine this notion. First, in a "benign" setting where an honest implementation of noisy quantum circuits is assumed, we characterize the conditions under which the XEB approximates the fidelity. Second, in an "adversarial" setting where all possible classical algorithms are considered for comparison, we show that achieving relatively high XEB values does not imply faithful simulation of quantum dynamics. We present an efficient classical algorithm that, with 1 GPU within 2s, yields high XEB values, namely 2-12% of those obtained in experiments. By identifying and exploiting several vulnerabilities of the XEB, we achieve high XEB values without full simulation of quantum circuits. Remarkably, our algorithm features better scaling with the system size than noisy quantum devices for commonly studied random circuit ensembles. To quantitatively explain the success of our algorithm and the limitations of the XEB, we use a theoretical framework in which the average XEB and fidelity are mapped to statistical models. We illustrate the relation between the XEB and the fidelity for quantum circuits in various architectures, with different gate choices, and in the presence of noise. Our results show that XEB's utility as a proxy for fidelity hinges on several conditions, which must be checked in the benign setting but cannot be assumed in the adversarial setting. Thus, the XEB alone has limited utility as a benchmark for quantum advantage. We discuss ways to overcome these limitations.

Entity alignment seeks to find entities in different knowledge graphs (KGs) that refer to the same real-world object. Recent advancement in KG embedding impels the advent of embedding-based entity alignment, which encodes entities in a continuous embedding space and measures entity similarities based on the learned embeddings. In this paper, we conduct a comprehensive experimental study of this emerging field. We survey 23 recent embedding-based entity alignment approaches and categorize them based on their techniques and characteristics. We also propose a new KG sampling algorithm, with which we generate a set of dedicated benchmark datasets with various heterogeneity and distributions for a realistic evaluation. We develop an open-source library including 12 representative embedding-based entity alignment approaches, and extensively evaluate these approaches, to understand their strengths and limitations. Additionally, for several directions that have not been explored in current approaches, we perform exploratory experiments and report our preliminary findings for future studies. The benchmark datasets, open-source library and experimental results are all accessible online and will be duly maintained.

Knowledge bases (KBs) have gradually become a valuable asset for many AI applications. While many current KBs are quite large, they are widely acknowledged as incomplete, especially lacking facts of long-tail entities, e.g., less famous persons. Existing approaches enrich KBs mainly on completing missing links or filling missing values. However, they only tackle a part of the enrichment problem and lack specific considerations regarding long-tail entities. In this paper, we propose a full-fledged approach to knowledge enrichment, which predicts missing properties and infers true facts of long-tail entities from the open Web. Prior knowledge from popular entities is leveraged to improve every enrichment step. Our experiments on the synthetic and real-world datasets and comparison with related work demonstrate the feasibility and superiority of the approach.

Graph convolution is the core of most Graph Neural Networks (GNNs) and usually approximated by message passing between direct (one-hop) neighbors. In this work, we remove the restriction of using only the direct neighbors by introducing a powerful, yet spatially localized graph convolution: Graph diffusion convolution (GDC). GDC leverages generalized graph diffusion, examples of which are the heat kernel and personalized PageRank. It alleviates the problem of noisy and often arbitrarily defined edges in real graphs. We show that GDC is closely related to spectral-based models and thus combines the strengths of both spatial (message passing) and spectral methods. We demonstrate that replacing message passing with graph diffusion convolution consistently leads to significant performance improvements across a wide range of models on both supervised and unsupervised tasks and a variety of datasets. Furthermore, GDC is not limited to GNNs but can trivially be combined with any graph-based model or algorithm (e.g. spectral clustering) without requiring any changes to the latter or affecting its computational complexity. Our implementation is available online.

Time Series Classification (TSC) is an important and challenging problem in data mining. With the increase of time series data availability, hundreds of TSC algorithms have been proposed. Among these methods, only a few have considered Deep Neural Networks (DNNs) to perform this task. This is surprising as deep learning has seen very successful applications in the last years. DNNs have indeed revolutionized the field of computer vision especially with the advent of novel deeper architectures such as Residual and Convolutional Neural Networks. Apart from images, sequential data such as text and audio can also be processed with DNNs to reach state-of-the-art performance for document classification and speech recognition. In this article, we study the current state-of-the-art performance of deep learning algorithms for TSC by presenting an empirical study of the most recent DNN architectures for TSC. We give an overview of the most successful deep learning applications in various time series domains under a unified taxonomy of DNNs for TSC. We also provide an open source deep learning framework to the TSC community where we implemented each of the compared approaches and evaluated them on a univariate TSC benchmark (the UCR/UEA archive) and 12 multivariate time series datasets. By training 8,730 deep learning models on 97 time series datasets, we propose the most exhaustive study of DNNs for TSC to date.

Deep reinforcement learning (RL) has achieved many recent successes, yet experiment turn-around time remains a key bottleneck in research and in practice. We investigate how to optimize existing deep RL algorithms for modern computers, specifically for a combination of CPUs and GPUs. We confirm that both policy gradient and Q-value learning algorithms can be adapted to learn using many parallel simulator instances. We further find it possible to train using batch sizes considerably larger than are standard, without negatively affecting sample complexity or final performance. We leverage these facts to build a unified framework for parallelization that dramatically hastens experiments in both classes of algorithm. All neural network computations use GPUs, accelerating both data collection and training. Our results include using an entire DGX-1 to learn successful strategies in Atari games in mere minutes, using both synchronous and asynchronous algorithms.

The recent popularity of deep neural networks (DNNs) has generated a lot of research interest in performing DNN-related computation efficiently. However, the primary focus is usually very narrow and limited to (i) inference -- i.e. how to efficiently execute already trained models and (ii) image classification networks as the primary benchmark for evaluation. Our primary goal in this work is to break this myopic view by (i) proposing a new benchmark for DNN training, called TBD (TBD is short for Training Benchmark for DNNs), that uses a representative set of DNN models that cover a wide range of machine learning applications: image classification, machine translation, speech recognition, object detection, adversarial networks, reinforcement learning, and (ii) by performing an extensive performance analysis of training these different applications on three major deep learning frameworks (TensorFlow, MXNet, CNTK) across different hardware configurations (single-GPU, multi-GPU, and multi-machine). TBD currently covers six major application domains and eight different state-of-the-art models. We present a new toolchain for performance analysis for these models that combines the targeted usage of existing performance analysis tools, careful selection of new and existing metrics and methodologies to analyze the results, and utilization of domain specific characteristics of DNN training. We also build a new set of tools for memory profiling in all three major frameworks; much needed tools that can finally shed some light on precisely how much memory is consumed by different data structures (weights, activations, gradients, workspace) in DNN training. By using our tools and methodologies, we make several important observations and recommendations on where the future research and optimization of DNN training should be focused.

We consider the task of learning the parameters of a {\em single} component of a mixture model, for the case when we are given {\em side information} about that component, we call this the "search problem" in mixture models. We would like to solve this with computational and sample complexity lower than solving the overall original problem, where one learns parameters of all components. Our main contributions are the development of a simple but general model for the notion of side information, and a corresponding simple matrix-based algorithm for solving the search problem in this general setting. We then specialize this model and algorithm to four common scenarios: Gaussian mixture models, LDA topic models, subspace clustering, and mixed linear regression. For each one of these we show that if (and only if) the side information is informative, we obtain parameter estimates with greater accuracy, and also improved computation complexity than existing moment based mixture model algorithms (e.g. tensor methods). We also illustrate several natural ways one can obtain such side information, for specific problem instances. Our experiments on real data sets (NY Times, Yelp, BSDS500) further demonstrate the practicality of our algorithms showing significant improvement in runtime and accuracy.