172 research outputs found
Scalable and Robust Community Detection with Randomized Sketching
This paper explores and analyzes the unsupervised clustering of large
partially observed graphs. We propose a scalable and provable randomized
framework for clustering graphs generated from the stochastic block model. The
clustering is first applied to a sub-matrix of the graph's adjacency matrix
associated with a reduced graph sketch constructed using random sampling. Then,
the clusters of the full graph are inferred based on the clusters extracted
from the sketch using a correlation-based retrieval step. Uniform random node
sampling is shown to improve the computational complexity over clustering of
the full graph when the cluster sizes are balanced. A new random degree-based
node sampling algorithm is presented which significantly improves upon the
performance of the clustering algorithm even when clusters are unbalanced. This
algorithm improves the phase transitions for matrix-decomposition-based
clustering with regard to computational complexity and minimum cluster size,
which are shown to be nearly dimension-free in the low inter-cluster
connectivity regime. A third sampling technique is shown to improve balance by
randomly sampling nodes based on spatial distribution. We provide analysis and
numerical results using a convex clustering algorithm based on matrix
completion
Spatial Random Sampling: A Structure-Preserving Data Sketching Tool
Random column sampling is not guaranteed to yield data sketches that preserve
the underlying structures of the data and may not sample sufficiently from
less-populated data clusters. Also, adaptive sampling can often provide
accurate low rank approximations, yet may fall short of producing descriptive
data sketches, especially when the cluster centers are linearly dependent.
Motivated by that, this paper introduces a novel randomized column sampling
tool dubbed Spatial Random Sampling (SRS), in which data points are sampled
based on their proximity to randomly sampled points on the unit sphere. The
most compelling feature of SRS is that the corresponding probability of
sampling from a given data cluster is proportional to the surface area the
cluster occupies on the unit sphere, independently from the size of the cluster
population. Although it is fully randomized, SRS is shown to provide
descriptive and balanced data representations. The proposed idea addresses a
pressing need in data science and holds potential to inspire many novel
approaches for analysis of big data
An accurate, fast, mathematically robust, universal, non-iterative algorithm for computing multi-component diffusion velocities
Using accurate multi-component diffusion treatment in numerical combustion
studies remains formidable due to the computational cost associated with
solving for diffusion velocities. To obtain the diffusion velocities, for low
density gases, one needs to solve the Stefan-Maxwell equations along with the
zero diffusion flux criteria, which scales as , when solved
exactly. In this article, we propose an accurate, fast, direct and robust
algorithm to compute multi-component diffusion velocities. To our knowledge,
this is the first provably accurate algorithm (the solution can be obtained up
to an arbitrary degree of precision) scaling at a computational complexity of
in finite precision. The key idea involves leveraging the fact
that the matrix of the reciprocal of the binary diffusivities, , is low
rank, with its rank being independent of the number of species involved. The
low rank representation of matrix is computed in a fast manner at a
computational complexity of and the Sherman-Morrison-Woodbury
formula is used to solve for the diffusion velocities at a computational
complexity of . Rigorous proofs and numerical benchmarks
illustrate the low rank property of the matrix and scaling of the
algorithm.Comment: 16 pages, 7 figures, 1 table, 1 algorith
Robot Composite Learning and the Nunchaku Flipping Challenge
Advanced motor skills are essential for robots to physically coexist with
humans. Much research on robot dynamics and control has achieved success on
hyper robot motor capabilities, but mostly through heavily case-specific
engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous
manner, robot learning from human demonstration (LfD) has achieved great
progress, but still has limitations handling dynamic skills and compound
actions. In this paper, we present a composite learning scheme which goes
beyond LfD and integrates robot learning from human definition, demonstration,
and evaluation. The method tackles advanced motor skills that require dynamic
time-critical maneuver, complex contact control, and handling partly soft
partly rigid objects. We also introduce the "nunchaku flipping challenge", an
extreme test that puts hard requirements to all these three aspects. Continued
from our previous presentations, this paper introduces the latest update of the
composite learning scheme and the physical success of the nunchaku flipping
challenge
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