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1. Lazy incremental search for efficient replanning with bounded suboptimality guarantees

   https://doi.org/10.1177/02783649241227869  

   Lim, Jaein; Ghanei, Mahdi; Lawson, R_Connor; Srinivasa, Siddhartha; Tsiotras, Panagiotis (January 2024, The International Journal of Robotics Research)

   We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of incremental search algorithms with the evaluation efficiency of lazy search algorithms for fast replanning in problem domains where edge evaluations are more expensive than vertex expansions. The proposed algorithms generalize Lifelong Planning A* (LPA*) and its bounded suboptimal version, Truncated LPA* (TLPA*), within the Generalized Lazy Search (GLS) framework, so as to restrict expensive edge evaluations only to the current shortest subpath when the cost-to-come inconsistencies are propagated during repair. We also present dynamic versions of the L-GLS and B-LGLS algorithms, called Generalized D* (GD*) and Bounded Generalized D* (B-GD*), respectively, for efficient replanning with non-stationary queries, designed specifically for navigation of mobile robots. We prove that the proposed algorithms are complete and correct in finding a solution that is guaranteed not to exceed the optimal solution cost by a user-chosen factor. Our numerical and experimental results support the claim that the proposed integration of the incremental and lazy search frameworks can help find solutions faster compared to the regular incremental or regular lazy search algorithms when the underlying graph representation changes often. 

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2. Combining Graph Convolutional Neural Networks and Label Propagation

   https://doi.org/10.1145/3490478  

   Wang, Hongwei; Leskovec, Jure (October 2022, ACM Transactions on Information Systems)

   Label Propagation Algorithm (LPA) and Graph Convolutional Neural Networks (GCN) are both message passing algorithms on graphs. Both solve the task of node classification, but LPA propagates node label information across the edges of the graph, while GCN propagates and transforms node feature information. However, while conceptually similar, theoretical relationship between LPA and GCN has not yet been systematically investigated. Moreover, it is unclear how LPA and GCN can be combined under a unified framework to improve the performance. Here we study the relationship between LPA and GCN in terms of feature/label influence , in which we characterize how much the initial feature/label of one node influences the final feature/label of another node in GCN/LPA. Based on our theoretical analysis, we propose an end-to-end model that combines GCN and LPA. In our unified model, edge weights are learnable, and the LPA serves as regularization to assist the GCN in learning proper edge weights that lead to improved performance. Our model can also be seen as learning the weights of edges based on node labels, which is more direct and efficient than existing feature-based attention models or topology-based diffusion models. In a number of experiments for semi-supervised node classification and knowledge-graph-aware recommendation, our model shows superiority over state-of-the-art baselines. 

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3. Koios: Top-k Semantic Overlap Set Search

   https://doi.org/10.1109/ICDE55515.2023.00121  

   Mundra, Pranay; Zhang, Jianhao; Nargesian, Fatemeh; Augsten, Nikolaus (April 2023, 2023 IEEE 39th International Conference on Data Engineering (ICDE))

   We study the top-k set similarity search problem using semantic overlap. While vanilla overlap requires exact matches between set elements, semantic overlap allows elements that are syntactically different but semantically related to increase the overlap. The semantic overlap is the maximum matching score of a bipartite graph, where an edge weight between two set elements is defined by a user-defined similarity function, e.g., cosine similarity between embeddings. Common techniques like token indexes fail for semantic search since similar elements may be unrelated at the character level. Further, verifying candidates is expensive (cubic versus linear for syntactic overlap), calling for highly selective filters. We propose Koios, the first exact and efficient algorithm for semantic overlap search. Koios leverages sophisticated filters to minimize the number of required graph-matching calculations. Our experiments show that for medium to large sets less than 5% of the candidate sets need verification, and more than half of those sets are further pruned without requiring the expensive graph matching. We show the efficiency of our algorithm on four real datasets and demonstrate the improved result quality of semantic over vanilla set similarity search. 

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4. Scalable and Sustainable Deep Learning via Randomized Hashing

   https://doi.org/10.1145/3097983.3098035  

   Spring, Ryan; Shrivastava, Anshumali (January 2017, Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining)

   Current deep learning architectures are growing larger in order to learn from complex datasets. These architectures require giant matrix multiplication operations to train millions of parameters. Conversely, there is another growing trend to bring deep learning to low-power, embedded devices. The matrix operations, associated with the training and testing of deep networks, are very expensive from a computational and energy standpoint. We present a novel hashing-based technique to drastically reduce the amount of computation needed to train and test neural networks. Our approach combines two recent ideas, Adaptive Dropout and Randomized Hashing for Maximum Inner Product Search (MIPS), to select the nodes with the highest activations efficiently. Our new algorithm for deep learning reduces the overall computational cost of the forward and backward propagation steps by operating on significantly fewer nodes. As a consequence, our algorithm uses only 5% of the total multiplications, while keeping within 1% of the accuracy of the original model on average. A unique property of the proposed hashing-based back-propagation is that the updates are always sparse. Due to the sparse gradient updates, our algorithm is ideally suited for asynchronous, parallel training, leading to near-linear speedup, as the number of cores increases. We demonstrate the scalability and sustainability (energy efficiency) of our proposed algorithm via rigorous experimental evaluations on several datasets. 

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5. Provable Lifelong Learning of Representations

   Cao, Xinyuan; Liu, Weiyang; Vempala, Santosh S. (January 2022, AISTATS)

   In lifelong learning, tasks (or classes) to be learned arrive sequentially over time in arbitrary order. During training, knowledge from previous tasks can be captured and transferred to subsequent ones to improve sample efficiency. We consider the setting where all target tasks can be represented in the span of a small number of unknown linear or nonlinear features of the input data. We propose a lifelong learning algorithm that maintains and refines the internal feature representation. We prove that for any desired accuracy on all tasks, the dimension of the representation remains close to that of the underlying representation. The resulting sample complexity improves significantly on existing bounds. In the setting of linear features, our algorithm is provably efficient and the sample complexity for input dimension d, m tasks with k features up to error ϵ is O~(dk1.5/ϵ+km/ϵ). We also prove a matching lower bound for any lifelong learning algorithm that uses a single task learner as a black box. We complement our analysis with an empirical study, including a heuristic lifelong learning algorithm for deep neural networks. Our method performs favorably on challenging realistic image datasets compared to state-of-the-art continual learning methods. 

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