One-class classifiers based on entropic spanning graphs

One-class classifiers offer valuable tools to assess the presence of outliers in data. In this paper, we propose a design methodology for one-class classifiers based on entropic spanning graphs. Our approach takes into account the possibility to process also non-numeric data by means of an embedding procedure. The spanning graph is learned on the embedded input data and the outcoming partition of vertices defines the classifier. The final partition is derived by exploiting a criterion based on mutual information minimization. Here, we compute the mutual information by using a convenient formulation provided in terms of the $\alpha$-Jensen difference. Once training is completed, in order to associate a confidence level with the classifier decision, a graph-based fuzzy model is constructed. The fuzzification process is based only on topological information of the vertices of the entropic spanning graph. As such, the proposed one-class classifier is suitable also for data characterized by complex geometric structures. We provide experiments on well-known benchmarks containing both feature vectors and labeled graphs. In addition, we apply the method to the protein solubility recognition problem by considering several representations for the input samples. Experimental results demonstrate the effectiveness and versatility of the proposed method with respect to other state-of-the-art approaches.Comment: Extended and revised version of the paper "One-Class Classification Through Mutual Information Minimization" presented at the 2016 IEEE IJCNN, Vancouver, Canad

Topology comparison of Twitter diffusion networks effectively reveals misleading information

In recent years, malicious information had an explosive growth in social media, with serious social and political backlashes. Recent important studies, featuring large-scale analyses, have produced deeper knowledge about this phenomenon, showing that misleading information spreads faster, deeper and more broadly than factual information on social media, where echo chambers, algorithmic and human biases play an important role in diffusion networks. Following these directions, we explore the possibility of classifying news articles circulating on social media based exclusively on a topological analysis of their diffusion networks. To this aim we collected a large dataset of diffusion networks on Twitter pertaining to news articles published on two distinct classes of sources, namely outlets that convey mainstream, reliable and objective information and those that fabricate and disseminate various kinds of misleading articles, including false news intended to harm, satire intended to make people laugh, click-bait news that may be entirely factual or rumors that are unproven. We carried out an extensive comparison of these networks using several alignment-free approaches including basic network properties, centrality measures distributions, and network distances. We accordingly evaluated to what extent these techniques allow to discriminate between the networks associated to the aforementioned news domains. Our results highlight that the communities of users spreading mainstream news, compared to those sharing misleading news, tend to shape diffusion networks with subtle yet systematic differences which might be effectively employed to identify misleading and harmful information.Comment: A revised new version is available on Scientific Report

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved