Scoring function (SF) measures the plausibility of triplets in knowledge graphs. Different scoring functions can lead to huge differences in link prediction performances on different knowledge graphs. In this report, we describe a weird scoring function found by random search on the open graph benchmark (OGB). This scoring function, called AutoWeird, only uses tail entity and relation in a triplet to compute its plausibility score. Experimental results show that AutoWeird achieves top-1 performance on ogbl-wikikg2 data set, but has much worse performance than other methods on ogbl-biokg data set. By analyzing the tail entity distribution and evaluation protocol of these two data sets, we attribute the unexpected success of AutoWeird on ogbl-wikikg2 to inappropriate evaluation and concentrated tail entity distribution. Such results may motivate further research on how to accurately evaluate the performance of different link prediction methods for knowledge graphs.

The hardness of combinatorial optimization (CO) problems hinders collecting solutions for supervised learning. However, learning neural networks for CO problems is notoriously difficult in lack of the labeled data as the training is easily trapped at local optima. In this work, we propose a simple but effective annealed training framework for CO problems. In particular, we transform CO problems into unbiased energy-based models (EBMs). We carefully selecting the penalties terms so as to make the EBMs as smooth as possible. Then we train graph neural networks to approximate the EBMs. To prevent the training from being stuck at local optima near the initialization, we introduce an annealed loss function. An experimental evaluation demonstrates that our annealed training framework obtains substantial improvements. In four types of CO problems, our method achieves performance substantially better than other unsupervised neural methods on both synthetic and real-world graphs.

Sampling-based path planning algorithms usually implement uniform sampling methods to search the state space. However, uniform sampling may lead to unnecessary exploration in many scenarios, such as the environment with a few dead ends. Our previous work proposes to use the promising region to guide the sampling process to address the issue. However, the predicted promising regions are often disconnected, which means they cannot connect the start and goal state, resulting in a lack of probabilistic completeness. This work focuses on enhancing the connectivity of predicted promising regions. Our proposed method regresses the connectivity probability of the edges in the x and y directions. In addition, it calculates the weight of the promising edges in loss to guide the neural network to pay more attention to the connectivity of the promising regions. We conduct a series of simulation experiments, and the results show that the connectivity of promising regions improves significantly. Furthermore, we analyze the effect of connectivity on sampling-based path planning algorithms and conclude that connectivity plays an essential role in maintaining algorithm performance.

Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives and feasibility constraints amongst other variations of the multi-robot task allocation problem. There are many examples of important research progress in these directions. We present a general formulation of the task allocation problem that generalizes several versions that are well-studied. Our formulation includes the states of robots, tasks, and the surrounding environment in which they operate. We describe how the problem can vary depending on the feasibility constraints, objective functions, and the level of dynamically changing information. In addition, we discuss existing solution approaches for the problem including optimization-based approaches, and market-based approaches.

Macro placement is the problem of placing memory blocks on a chip canvas. It can be formulated as a combinatorial optimization problem over sequence pairs, a representation which describes the relative positions of macros. Solving this problem is particularly challenging since the objective function is expensive to evaluate. In this paper, we develop a novel approach to macro placement using Bayesian optimization (BO) over sequence pairs. BO is a machine learning technique that uses a probabilistic surrogate model and an acquisition function that balances exploration and exploitation to efficiently optimize a black-box objective function. BO is more sample-efficient than reinforcement learning and therefore can be used with more realistic objectives. Additionally, the ability to learn from data and adapt the algorithm to the objective function makes BO an appealing alternative to other black-box optimization methods such as simulated annealing, which relies on problem-dependent heuristics and parameter-tuning. We benchmark our algorithm on the fixed-outline macro placement problem with the half-perimeter wire length objective and demonstrate competitive performance.

Outlier explanation is the task of identifying a set of features that distinguish a sample from normal data, which is important for downstream (human) decision-making. Existing methods are based on beam search in the space of feature subsets. They quickly becomes computationally expensive, as they require to run an outlier detection algorithm from scratch for each feature subset. To alleviate this problem, we propose a novel outlier explanation algorithm based on Sum-Product Networks (SPNs), a class of probabilistic circuits. Our approach leverages the tractability of marginal inference in SPNs to compute outlier scores in feature subsets. By using SPNs, it becomes feasible to perform backwards elimination instead of the usual forward beam search, which is less susceptible to missing relevant features in an explanation, especially when the number of features is large. We empirically show that our approach achieves state-of-the-art results for outlier explanation, outperforming recent search-based as well as deep learning-based explanation methods

This report presents the open-source package which implements the series of our boosting works in the past years. In particular, the package includes mainly three lines of techniques, among which the following two are already the standard implementations in popular boosted tree platforms: (i) The histogram-based (feature-binning) approach makes the tree implementation convenient and efficient. In Li et al (2007), a simple fixed-length adaptive binning algorithm was developed. In this report, we demonstrate that such a simple algorithm is still surprisingly effective compared to more sophisticated variants in popular tree platforms. (ii) The explicit gain formula in Li (20010) for tree splitting based on second-order derivatives of the loss function typically improves, often considerably, over the first-order methods. Although the gain formula in Li (2010) was derived for logistic regression loss, it is a generic formula for loss functions with second-derivatives. For example, the open-source package also includes $L_p$ regression for $p\geq 1$. The main contribution of this package is the ABC-Boost (adaptive base class boosting) for multi-class classification. The initial work in Li (2008) derived a new set of derivatives of the classical multi-class logistic regression by specifying a "base class". The accuracy can be substantially improved if the base class is chosen properly. The major technical challenge is to design a search strategy to select the base class. The prior published works implemented an exhaustive search procedure to find the base class which is computationally too expensive. Recently, a new report (Li and Zhao, 20022) presents a unified framework of "Fast ABC-Boost" which allows users to efficiently choose the proper search space for the base class. The package provides interfaces for linux, windows, mac, matlab, R, python.

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates the planning process. For the challenging dual-arm tabletop rearrangement problem, we develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms. We show that, even without using a sophisticated motion planner, our method achieves significant time savings in comparison to greedy approaches and naive parallelization of single-robot plans.

The following paper is a reproducibility report for "Path Planning using Neural A* Search" published in ICML2 2021 as part of the ML Reproducibility Challenge 2021. The original paper proposes the Neural A* planner, and claims it achieves an optimal balance between the reduction of node expansions and path accuracy. We verify this claim by reimplementing the model in a different framework and reproduce the data published in the original paper. We have also provided a code-flow diagram to aid comprehension of the code structure. As extensions to the original paper, we explore the effects of (1) generalizing the model by training it on a shuffled dataset, (2) introducing dropout, (3) implementing empirically chosen hyperparameters as trainable parameters in the model, (4) altering the network model to Generative Adversarial Networks (GANs) to introduce stochasticity, (5) modifying the encoder from Unet to Unet++, (6) incorporating cost maps obtained from the Neural A* module in other variations of A* search.

Subgroup discovery is a descriptive and exploratory data mining technique to identify subgroups in a population that exhibit interesting behavior with respect to a variable of interest. Subgroup discovery has numerous applications in knowledge discovery and hypothesis generation, yet it remains inapplicable for unstructured, high-dimensional data such as images. This is because subgroup discovery algorithms rely on defining descriptive rules based on (attribute, value) pairs, however, in unstructured data, an attribute is not well defined. Even in cases where the notion of attribute intuitively exists in the data, such as a pixel in an image, due to the high dimensionality of the data, these attributes are not informative enough to be used in a rule. In this paper, we introduce the subgroup-aware variational autoencoder, a novel variational autoencoder that learns a representation of unstructured data which leads to subgroups with higher quality. Our experimental results demonstrate the effectiveness of the method at learning subgroups with high quality while supporting the interpretability of the concepts.