Kronecker Graphs: An Approach to Modeling Networks

How can we model networks with a mathematically tractable model that allows for rigorous analysis of network properties? Networks exhibit a long list of surprising properties: heavy tails for the degree distribution; small diameters; and densification and shrinking diameters over time. Most present network models either fail to match several of the above properties, are complicated to analyze mathematically, or both. In this paper we propose a generative model for networks that is both mathematically tractable and can generate networks that have the above mentioned properties. Our main idea is to use the Kronecker product to generate graphs that we refer to as "Kronecker graphs". First, we prove that Kronecker graphs naturally obey common network properties. We also provide empirical evidence showing that Kronecker graphs can effectively model the structure of real networks. We then present KronFit, a fast and scalable algorithm for fitting the Kronecker graph generation model to large real networks. A naive approach to fitting would take super- exponential time. In contrast, KronFit takes linear time, by exploiting the structure of Kronecker matrix multiplication and by using statistical simulation techniques. Experiments on large real and synthetic networks show that KronFit finds accurate parameters that indeed very well mimic the properties of target networks. Once fitted, the model parameters can be used to gain insights about the network structure, and the resulting synthetic graphs can be used for null- models, anonymization, extrapolations, and graph summarization

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201