1,698 research outputs found
Graph Neural Networks Meet Neural-Symbolic Computing: A Survey and Perspective
Neural-symbolic computing has now become the subject of interest of both
academic and industry research laboratories. Graph Neural Networks (GNN) have
been widely used in relational and symbolic domains, with widespread
application of GNNs in combinatorial optimization, constraint satisfaction,
relational reasoning and other scientific domains. The need for improved
explainability, interpretability and trust of AI systems in general demands
principled methodologies, as suggested by neural-symbolic computing. In this
paper, we review the state-of-the-art on the use of GNNs as a model of
neural-symbolic computing. This includes the application of GNNs in several
domains as well as its relationship to current developments in neural-symbolic
computing.Comment: Updated version, draft of accepted IJCAI2020 Survey Pape
DIFUSCO: Graph-based Diffusion Solvers for Combinatorial Optimization
Neural network-based Combinatorial Optimization (CO) methods have shown
promising results in solving various NP-complete (NPC) problems without relying
on hand-crafted domain knowledge. This paper broadens the current scope of
neural solvers for NPC problems by introducing a new graph-based diffusion
framework, namely DIFUSCO. Our framework casts NPC problems as discrete {0,
1}-vector optimization problems and leverages graph-based denoising diffusion
models to generate high-quality solutions. We investigate two types of
diffusion models with Gaussian and Bernoulli noise, respectively, and devise an
effective inference schedule to enhance the solution quality. We evaluate our
methods on two well-studied NPC combinatorial optimization problems: Traveling
Salesman Problem (TSP) and Maximal Independent Set (MIS). Experimental results
show that DIFUSCO strongly outperforms the previous state-of-the-art neural
solvers, improving the performance gap between ground-truth and neural solvers
from 1.76% to 0.46% on TSP-500, from 2.46% to 1.17% on TSP-1000, and from 3.19%
to 2.58% on TSP10000. For the MIS problem, DIFUSCO outperforms the previous
state-of-the-art neural solver on the challenging SATLIB benchmark. Our code is
available at "https://github.com/Edward-Sun/DIFUSCO"
Navigational Guidance – A Deep Learning Approach
The useful navigation guidance is favorable to considerably reducing navigation time. The navigation problems involved with multiple destinations are formulated as the Directed Steiner Tree (DST) problems over directed graphs. In this paper, we propose a deep learning (to be exact, graph neural networks) based approach to tackle the DST problem in a supervised manner. Experiments are conducted to evaluate the proposed approach, and the results suggest that our approach can effectively solve the DST problems. In particular, the accuracy of the network model can reach 95.04% or even higher
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search
This work proposes a process for efficiently searching over combinations of
individual object 6D pose hypotheses in cluttered scenes, especially in cases
involving occlusions and objects resting on each other. The initial set of
candidate object poses is generated from state-of-the-art object detection and
global point cloud registration techniques. The best-scored pose per object by
using these techniques may not be accurate due to overlaps and occlusions.
Nevertheless, experimental indications provided in this work show that object
poses with lower ranks may be closer to the real poses than ones with high
ranks according to registration techniques. This motivates a global
optimization process for improving these poses by taking into account
scene-level physical interactions between objects. It also implies that the
Cartesian product of candidate poses for interacting objects must be searched
so as to identify the best scene-level hypothesis. To perform the search
efficiently, the candidate poses for each object are clustered so as to reduce
their number but still keep a sufficient diversity. Then, searching over the
combinations of candidate object poses is performed through a Monte Carlo Tree
Search (MCTS) process that uses the similarity between the observed depth image
of the scene and a rendering of the scene given the hypothesized pose as a
score that guides the search procedure. MCTS handles in a principled way the
tradeoff between fine-tuning the most promising poses and exploring new ones,
by using the Upper Confidence Bound (UCB) technique. Experimental results
indicate that this process is able to quickly identify in cluttered scenes
physically-consistent object poses that are significantly closer to ground
truth compared to poses found by point cloud registration methods.Comment: 8 pages, 4 figure
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