Sampling-based motion planners' testing environment (sbp-env) is a full feature framework to quickly test different sampling-based algorithms for motion planning. sbp-env focuses on the flexibility of tinkering with different aspects of the framework, and had divided the main planning components into two categories (i) samplers and (ii) planners. The focus of motion planning research had been mainly on (i) improving the sampling efficiency (with methods such as heuristic or learned distribution) and (ii) the algorithmic aspect of the planner using different routines to build a connected graph. Therefore, by separating the two components one can quickly swap out different components to test novel ideas.

We propose new width-based planning and learning algorithms inspired from a careful analysis of the design decisions made by previous width-based planners. The algorithms are applied over the Atari-2600 games and our best performing algorithm, Novelty guided Critical Path Learning (N-CPL), outperforms the previously introduced width-based planning and learning algorithms $\pi$-IW(1), $\pi$-IW(1)+ and $\pi$-HIW(n, 1). Furthermore, we present a taxonomy of the Atari-2600 games according to some of their defining characteristics. This analysis of the games provides further insight into the behaviour and performance of the algorithms introduced. Namely, for games with large branching factors, and games with sparse meaningful rewards, N-CPL outperforms $\pi$-IW, $\pi$-IW(1)+ and $\pi$-HIW(n, 1).

Many widely used datasets for graph machine learning tasks have generally been homophilous, where nodes with similar labels connect to each other. Recently, new Graph Neural Networks (GNNs) have been developed that move beyond the homophily regime; however, their evaluation has often been conducted on small graphs with limited application domains. We collect and introduce diverse non-homophilous datasets from a variety of application areas that have up to 384x more nodes and 1398x more edges than prior datasets. We further show that existing scalable graph learning and graph minibatching techniques lead to performance degradation on these non-homophilous datasets, thus highlighting the need for further work on scalable non-homophilous methods. To address these concerns, we introduce LINKX -- a strong simple method that admits straightforward minibatch training and inference. Extensive experimental results with representative simple methods and GNNs across our proposed datasets show that LINKX achieves state-of-the-art performance for learning on non-homophilous graphs. Our codes and data are available at https://github.com/CUAI/Non-Homophily-Large-Scale.

Traffic forecasting is an integral part of intelligent transportation systems (ITS). Achieving a high prediction accuracy is a challenging task due to a high level of dynamics and complex spatial-temporal dependency of road networks. For this task, we propose Graph Attention-Convolution-Attention Networks (GACAN). The model uses a novel Att-Conv-Att (ACA) block which contains two graph attention layers and one spectral-based GCN layer sandwiched in between. The graph attention layers are meant to capture temporal features while the spectral-based GCN layer is meant to capture spatial features. The main novelty of the model is the integration of time series of four different time granularities: the original time series, together with hourly, daily, and weekly time series. Unlike previous work that used multi-granularity time series by handling every time series separately, GACAN combines the outcome of processing all time series after each graph attention layer. Thus, the effects of different time granularities are integrated throughout the model. We perform a series of experiments on three real-world datasets. The experimental results verify the advantage of using multi-granularity time series and that the proposed GACAN model outperforms the state-of-the-art baselines.

Self-supervised learning has been shown to be very effective in learning useful representations, and yet much of the success is achieved in data types such as images, audio, and text. The success is mainly enabled by taking advantage of spatial, temporal, or semantic structure in the data through augmentation. However, such structure may not exist in tabular datasets commonly used in fields such as healthcare, making it difficult to design an effective augmentation method, and hindering a similar progress in tabular data setting. In this paper, we introduce a new framework, Subsetting features of Tabular data (SubTab), that turns the task of learning from tabular data into a multi-view representation learning problem by dividing the input features to multiple subsets. We argue that reconstructing the data from the subset of its features rather than its corrupted version in an autoencoder setting can better capture its underlying latent representation. In this framework, the joint representation can be expressed as the aggregate of latent variables of the subsets at test time, which we refer to as collaborative inference. Our experiments show that the SubTab achieves the state of the art (SOTA) performance of 98.31% on MNIST in tabular setting, on par with CNN-based SOTA models, and surpasses existing baselines on three other real-world datasets by a significant margin.

In 1996 Nasa and the White House made the explosive announcement that the rock contained traces of Martian bugs. The meteorite, catalogued as Allen Hills (ALH) 84001, crashed onto the frozen wastes of Antarctica 13,000 years ago and was recovered in 1984. Photographs were released showing elongated segmented objects that appeared strikingly lifelike.

Learning in a multi-target environment without prior knowledge about the targets requires a large amount of samples and makes generalization difficult. To solve this problem, it is important to be able to discriminate targets through semantic understanding. In this paper, we propose goal-aware cross-entropy (GACE) loss, that can be utilized in a self-supervised way using auto-labeled goal states alongside reinforcement learning. Based on the loss, we then devise goal-discriminative attention networks (GDAN) which utilize the goal-relevant information to focus on the given instruction. We evaluate the proposed methods on visual navigation and robot arm manipulation tasks with multi-target environments and show that GDAN outperforms the state-of-the-art methods in terms of task success ratio, sample efficiency, and generalization. Additionally, qualitative analyses demonstrate that our proposed method can help the agent become aware of and focus on the given instruction clearly, promoting goal-directed behavior.

Conceptual Graphs (CG) are a graph-based knowledge representation and reasoning formalism; fuzzy Conceptual Graphs (fCG) constitute an extension that enriches their expressiveness, exploiting the fuzzy set theory so as to relax their constraints at various levels. This paper proposes a comparative study of existing approaches over their respective advantages and possible limitations. The discussion revolves around three axes: (a) Critical view of each approach and comparison with previous propositions from the state of the art; (b) Presentation of the many possible interpretations of each definition to illustrate its potential and its limits; (c) Clarification of the part of CG impacted by the definition as well as the relaxed constraint.

Recent studies show that private training data can be leaked through the gradients sharing mechanism deployed in distributed machine learning systems, such as federated learning (FL). Increasing batch size to complicate data recovery is often viewed as a promising defense strategy against data leakage. In this paper, we revisit this defense premise and propose an advanced data leakage attack with theoretical justification to efficiently recover batch data from the shared aggregated gradients. We name our proposed method as catastrophic data leakage in vertical federated learning (CAFE). Comparing to existing data leakage attacks, our extensive experimental results on vertical FL settings demonstrate the effectiveness of CAFE to perform large-batch data leakage attack with improved data recovery quality. We also propose a practical countermeasure to mitigate CAFE. Our results suggest that private data participated in standard FL, especially the vertical case, have a high risk of being leaked from the training gradients. Our analysis implies unprecedented and practical data leakage risks in those learning settings. The code of our work is available at https://github.com/DeRafael/CAFE.

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to guarantee their repeatability. To address this issue, we present CoFiNet - Coarse-to-Fine Network which extracts hierarchical correspondences from coarse to fine without keypoint detection. On a coarse scale and guided by a weighting scheme, our model firstly learns to match down-sampled nodes whose vicinity points share more overlap, which significantly shrinks the search space of a consecutive stage. On a finer scale, node proposals are consecutively expanded to patches that consist of groups of points together with associated descriptors. Point correspondences are then refined from the overlap areas of corresponding patches, by a density-adaptive matching module capable to deal with varying point density. Extensive evaluation of CoFiNet on both indoor and outdoor standard benchmarks shows our superiority over existing methods. Especially on 3DLoMatch where point clouds share less overlap, CoFiNet significantly outperforms state-of-the-art approaches by at least 5% on Registration Recall, with at most two-third of their parameters.