Lines 108-120, the description of PSGs, will be made less formal.

Underwater object-level mapping requires incorporating visual foundation models to handle the uncommon and often previously unseen object classes encountered in marine scenarios. In this work, a metric of semantic uncertainty for open-set object detections produced by visual foundation models is calculated and then incorporated into an object-level uncertainty tracking framework. Object-level uncertainties and geometric relationships between objects are used to enable robust object-level loop closure detection for unknown object classes. The above loop closure detection problem is formulated as a graph-matching problem. While graph matching, in general, is NP-Complete, a solver for an equivalent formulation of the proposed graph matching problem as a graph editing problem is tested on multiple challenging underwater scenes. Results for this solver as well as three other solvers demonstrate that the proposed methods are feasible for real-time use in marine environments for the robust, open-set, multi-object, semantic-uncertainty-aware loop closure detection. Further experimental results on the KITTI dataset demonstrate that the method generalizes to large-scale terrestrial scenes.

Machine learning (ML) has become one of the most prominent forms of data analysis for everything from fraud detection to visual quality control. Yet the analytic results can often suffer from insufficiently labeled training data. A team of Georgia Tech researchers has created a system that allows users to more effectively label a training dataset with higher accuracy than current methods. "We are looking at the problem from a data management perspective," said School of Computer Science (SCS) Assistant Professor Xu Chu. "In contrast to a lot of ML research that tries to tackle the lack of sufficient training data from an ML algorithm design perspective, we aim at building a system that helps users effectively label a dataset."

Hypergraphs are a natural modeling paradigm for a wide range of complex relational systems with multibody interactions. A standard analysis task is to identify clusters of closely related or densely interconnected nodes. While many probabilistic generative models for graph clustering have been proposed, there are relatively few such models for hypergraphs. We propose a Poisson degree-corrected hypergraph stochastic blockmodel (DCHSBM), an expressive generative model of clustered hypergraphs with heterogeneous node degrees and edge sizes. Approximate maximum-likelihood inference in the DCHSBM naturally leads to a clustering objective that generalizes the popular modularity objective for graphs. We derive a general Louvain-type algorithm for this objective, as well as a a faster, specialized "All-Or-Nothing" (AON) variant in which edges are expected to lie fully within clusters. This special case encompasses a recent proposal for modularity in hypergraphs, while also incorporating flexible resolution and edge-size parameters. We show that hypergraph Louvain is highly scalable, including as an example an experiment on a synthetic hypergraph of one million nodes. We also demonstrate through synthetic experiments that the detectability regimes for hypergraph community detection differ from methods based on dyadic graph projections. In particular, there are regimes in which hypergraph methods can recover planted partitions even though graph based methods necessarily fail due to information-theoretic limits. We use our model to analyze different patterns of higher-order structure in school contact networks, U.S. congressional bill cosponsorship, U.S. congressional committees, product categories in co-purchasing behavior, and hotel locations from web browsing sessions, that it is able to recover ground truth clusters in empirical data sets exhibiting the corresponding higher-order structure.

In this contribution we study social network modelling by using human interaction as a basis. To do so, we propose a new set of functions, affinities, designed to capture the nature of the local interactions among each pair of actors in a network. By using these functions, we develop a new community detection algorithm, the Borgia Clustering, where communities naturally arise from the multi-agent interaction in the network. We also discuss the effects of size and scale for communities regarding this case, as well as how we cope with the additional complexity present when big communities arise. Finally, we compare our community detection solution with other representative algorithms, finding favourable results.

Significant progress in clustering has been achieved by algorithms that are based on pairwise affinities between the datapoints. In particular, spectral clustering methods have the advantage of being able to divide arbitrarily shaped clusters and are based on efficient eigenvector calculations. However,spectral methods lack a straightforward probabilistic interpretation which makes it difficult to automatically set parameters using trainingdata. In this paper we use the previously proposed typical cut framework for pairwise clustering. We show an equivalence between calculating the typical cut and inference in an undirected graphical model. We show that for clustering problems with hundreds of datapoints exact inference may still be possible. For more complicated datasets, we show that loopy belief propagation(BP) and generalized belief propagation (GBP) can give excellent results on challenging clustering problems. We also use graphical modelsto derive a learning algorithm for affinity matrices based on labeled data.

Significant progress in clustering has been achieved by algorithms that are based on pairwise affinities between the datapoints. In particular, spectral clustering methods have the advantage of being able to divide arbitrarily shaped clusters and are based on efficient eigenvector calculations. However, spectral methods lack a straightforward probabilistic interpretation which makes it difficult to automatically set parameters using training data. In this paper we use the previously proposed typical cut framework for pairwise clustering. We show an equivalence between calculating the typical cut and inference in an undirected graphical model. We show that for clustering problems with hundreds of datapoints exact inference may still be possible. For more complicated datasets, we show that loopy belief propagation (BP) and generalized belief propagation (GBP) can give excellent results on challenging clustering problems. We also use graphical models to derive a learning algorithm for affinity matrices based on labeled data.

Significant progress in clustering has been achieved by algorithms that are based on pairwise affinities between the datapoints. In particular, spectral clustering methods have the advantage of being able to divide arbitrarily shaped clusters and are based on efficient eigenvector calculations. However, spectral methods lack a straightforward probabilistic interpretation which makes it difficult to automatically set parameters using training data. In this paper we use the previously proposed typical cut framework for pairwise clustering. We show an equivalence between calculating the typical cut and inference in an undirected graphical model. We show that for clustering problems with hundreds of datapoints exact inference may still be possible. For more complicated datasets, we show that loopy belief propagation (BP) and generalized belief propagation (GBP) can give excellent results on challenging clustering problems. We also use graphical models to derive a learning algorithm for affinity matrices based on labeled data.