50,223 research outputs found
On the Minimal Revision Problem of Specification Automata
As robots are being integrated into our daily lives, it becomes necessary to
provide guarantees on the safe and provably correct operation. Such guarantees
can be provided using automata theoretic task and mission planning where the
requirements are expressed as temporal logic specifications. However, in
real-life scenarios, it is to be expected that not all user task requirements
can be realized by the robot. In such cases, the robot must provide feedback to
the user on why it cannot accomplish a given task. Moreover, the robot should
indicate what tasks it can accomplish which are as "close" as possible to the
initial user intent. This paper establishes that the latter problem, which is
referred to as the minimal specification revision problem, is NP complete. A
heuristic algorithm is presented that can compute good approximations to the
Minimal Revision Problem (MRP) in polynomial time. The experimental study of
the algorithm demonstrates that in most problem instances the heuristic
algorithm actually returns the optimal solution. Finally, some cases where the
algorithm does not return the optimal solution are presented.Comment: 23 pages, 16 figures, 2 tables, International Joural of Robotics
Research 2014 Major Revision (submitted
Reasoning about Independence in Probabilistic Models of Relational Data
We extend the theory of d-separation to cases in which data instances are not
independent and identically distributed. We show that applying the rules of
d-separation directly to the structure of probabilistic models of relational
data inaccurately infers conditional independence. We introduce relational
d-separation, a theory for deriving conditional independence facts from
relational models. We provide a new representation, the abstract ground graph,
that enables a sound, complete, and computationally efficient method for
answering d-separation queries about relational models, and we present
empirical results that demonstrate effectiveness.Comment: 61 pages, substantial revisions to formalisms, theory, and related
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Temporal Networks
A great variety of systems in nature, society and technology -- from the web
of sexual contacts to the Internet, from the nervous system to power grids --
can be modeled as graphs of vertices coupled by edges. The network structure,
describing how the graph is wired, helps us understand, predict and optimize
the behavior of dynamical systems. In many cases, however, the edges are not
continuously active. As an example, in networks of communication via email,
text messages, or phone calls, edges represent sequences of instantaneous or
practically instantaneous contacts. In some cases, edges are active for
non-negligible periods of time: e.g., the proximity patterns of inpatients at
hospitals can be represented by a graph where an edge between two individuals
is on throughout the time they are at the same ward. Like network topology, the
temporal structure of edge activations can affect dynamics of systems
interacting through the network, from disease contagion on the network of
patients to information diffusion over an e-mail network. In this review, we
present the emergent field of temporal networks, and discuss methods for
analyzing topological and temporal structure and models for elucidating their
relation to the behavior of dynamical systems. In the light of traditional
network theory, one can see this framework as moving the information of when
things happen from the dynamical system on the network, to the network itself.
Since fundamental properties, such as the transitivity of edges, do not
necessarily hold in temporal networks, many of these methods need to be quite
different from those for static networks
Learning causal models that make correct manipulation predictions with time series data
One of the fundamental purposes of causal models is using them to predict the effects of manipulating various components of a system. It has been argued by Dash (2005, 2003) that the Do operator will fail when applied to an equilibrium model, unless the underlying dynamic system obeys what he calls Equilibration-Manipulation Commutability. Unfortunately, this fact renders most existing causal discovery algorithms unreliable for reasoning about manipulations. Motivated by this caveat, in this paper we present a novel approach to causal discovery of dynamic models from time series. The approach uses a representation of dynamic causal models motivated by Iwasaki and Simon (1994), which asserts that all “causation across time" occurs because a variable’s derivative has been affected instantaneously. We present an algorithm that exploits this representation within a constraint-based learning framework by numerically calculating derivatives and learning instantaneous relationships. We argue that due to numerical errors in higher order derivatives, care must be taken when learning causal structure, but we show that the Iwasaki-Simon representation reduces the search space considerably, allowing us to forego calculating many high-order derivatives. In order for our algorithm to discover the dynamic model, it is necessary that the time-scale of the data is much finer than any temporal process of the system. Finally, we show that our approach can correctly recover the structure of a fairly complex dynamic system, and can predict the effect of manipulations accurately when a manipulation does not cause an instability. To our knowledge, this is the first causal discovery algorithm that has demonstrated that it can correctly predict the effects of manipulations for a system that does not obey the EMC condition
Multimodal Classification of Urban Micro-Events
In this paper we seek methods to effectively detect urban micro-events. Urban
micro-events are events which occur in cities, have limited geographical
coverage and typically affect only a small group of citizens. Because of their
scale these are difficult to identify in most data sources. However, by using
citizen sensing to gather data, detecting them becomes feasible. The data
gathered by citizen sensing is often multimodal and, as a consequence, the
information required to detect urban micro-events is distributed over multiple
modalities. This makes it essential to have a classifier capable of combining
them. In this paper we explore several methods of creating such a classifier,
including early, late, hybrid fusion and representation learning using
multimodal graphs. We evaluate performance on a real world dataset obtained
from a live citizen reporting system. We show that a multimodal approach yields
higher performance than unimodal alternatives. Furthermore, we demonstrate that
our hybrid combination of early and late fusion with multimodal embeddings
performs best in classification of urban micro-events
Multilayer Networks
In most natural and engineered systems, a set of entities interact with each
other in complicated patterns that can encompass multiple types of
relationships, change in time, and include other types of complications. Such
systems include multiple subsystems and layers of connectivity, and it is
important to take such "multilayer" features into account to try to improve our
understanding of complex systems. Consequently, it is necessary to generalize
"traditional" network theory by developing (and validating) a framework and
associated tools to study multilayer systems in a comprehensive fashion. The
origins of such efforts date back several decades and arose in multiple
disciplines, and now the study of multilayer networks has become one of the
most important directions in network science. In this paper, we discuss the
history of multilayer networks (and related concepts) and review the exploding
body of work on such networks. To unify the disparate terminology in the large
body of recent work, we discuss a general framework for multilayer networks,
construct a dictionary of terminology to relate the numerous existing concepts
to each other, and provide a thorough discussion that compares, contrasts, and
translates between related notions such as multilayer networks, multiplex
networks, interdependent networks, networks of networks, and many others. We
also survey and discuss existing data sets that can be represented as
multilayer networks. We review attempts to generalize single-layer-network
diagnostics to multilayer networks. We also discuss the rapidly expanding
research on multilayer-network models and notions like community structure,
connected components, tensor decompositions, and various types of dynamical
processes on multilayer networks. We conclude with a summary and an outlook.Comment: Working paper; 59 pages, 8 figure
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