Learning without recall in directed circles and rooted trees

This work investigates the case of a network of agents that attempt to learn some unknown state of the world amongst the finitely many possibilities. At each time step, agents all receive random, independently distributed private signals whose distributions are dependent on the unknown state of the world. However, it may be the case that some or any of the agents cannot distinguish between two or more of the possible states based only on their private observations, as when several states result in the same distribution of the private signals. In our model, the agents form some initial belief (probability distribution) about the unknown state and then refine their beliefs in accordance with their private observations, as well as the beliefs of their neighbors. An agent learns the unknown state when her belief converges to a point mass that is concentrated at the true state. A rational agent would use the Bayes' rule to incorporate her neighbors' beliefs and own private signals over time. While such repeated applications of the Bayes' rule in networks can become computationally intractable; in this paper, we show that in the canonical cases of directed star, circle or path networks and their combinations, one can derive a class of memoryless update rules that replicate that of a single Bayesian agent but replace the self beliefs with the beliefs of the neighbors. This way, one can realize an exponentially fast rate of learning similar to the case of Bayesian (fully rational) agents. The proposed rules are a special case of the Learning without Recall approach that we develop in a companion paper, and it has the advantage that while preserving essential features of the Bayesian inference, they are made tractable. In particular, the agents can rely on the observational abilities of their neighbors and their neighbors' neighbors etc. to learn the unknown state; even though they themselves cannot distinguish the truth

Learning without Recall by Random Walks on Directed Graphs

We consider a network of agents that aim to learn some unknown state of the world using private observations and exchange of beliefs. At each time, agents observe private signals generated based on the true unknown state. Each agent might not be able to distinguish the true state based only on her private observations. This occurs when some other states are observationally equivalent to the true state from the agent's perspective. To overcome this shortcoming, agents must communicate with each other to benefit from local observations. We propose a model where each agent selects one of her neighbors randomly at each time. Then, she refines her opinion using her private signal and the prior of that particular neighbor. The proposed rule can be thought of as a Bayesian agent who cannot recall the priors based on which other agents make inferences. This learning without recall approach preserves some aspects of the Bayesian inference while being computationally tractable. By establishing a correspondence with a random walk on the network graph, we prove that under the described protocol, agents learn the truth exponentially fast in the almost sure sense. The asymptotic rate is expressed as the sum of the relative entropies between the signal structures of every agent weighted by the stationary distribution of the random walk.Comment: 6 pages, To Appear in Conference on Decision and Control 201

Learning without Recall: A Case for Log-Linear Learning

We analyze a model of learning and belief formation in networks in which agents follow Bayes rule yet they do not recall their history of past observations and cannot reason about how other agents' beliefs are formed. They do so by making rational inferences about their observations which include a sequence of independent and identically distributed private signals as well as the beliefs of their neighboring agents at each time. Fully rational agents would successively apply Bayes rule to the entire history of observations. This leads to forebodingly complex inferences due to lack of knowledge about the global network structure that causes those observations. To address these complexities, we consider a Learning without Recall model, which in addition to providing a tractable framework for analyzing the behavior of rational agents in social networks, can also provide a behavioral foundation for the variety of non-Bayesian update rules in the literature. We present the implications of various choices for time-varying priors of such agents and how this choice affects learning and its rate.Comment: in 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, (NecSys 2015

Neural-Augmented Static Analysis of Android Communication

We address the problem of discovering communication links between applications in the popular Android mobile operating system, an important problem for security and privacy in Android. Any scalable static analysis in this complex setting is bound to produce an excessive amount of false-positives, rendering it impractical. To improve precision, we propose to augment static analysis with a trained neural-network model that estimates the probability that a communication link truly exists. We describe a neural-network architecture that encodes abstractions of communicating objects in two applications and estimates the probability with which a link indeed exists. At the heart of our architecture are type-directed encoders (TDE), a general framework for elegantly constructing encoders of a compound data type by recursively composing encoders for its constituent types. We evaluate our approach on a large corpus of Android applications, and demonstrate that it achieves very high accuracy. Further, we conduct thorough interpretability studies to understand the internals of the learned neural networks.Comment: Appears in Proceedings of the 2018 ACM Joint European Software Engineering Conference and Symposium on the Foundations of Software Engineering (ESEC/FSE

Inferring phylogenetic trees under the general Markov model via a minimum spanning tree backbone

Phylogenetic trees are models of the evolutionary relationships among species, with species typically placed at the leaves of trees. We address the following problems regarding the calculation of phylogenetic trees. (1) Leaf-labeled phylogenetic trees may not be appropriate models of evolutionary relationships among rapidly evolving pathogens which may contain ancestor-descendant pairs. (2) The models of gene evolution that are widely used unrealistically assume that the base composition of DNA sequences does not evolve. Regarding problem (1) we present a method for inferring generally labeled phylogenetic trees that allow sampled species to be placed at non-leaf nodes of the tree. Regarding problem (2), we present a structural expectation maximization method (SEM-GM) for inferring leaf-labeled phylogenetic trees under the general Markov model (GM) which is the most complex model of DNA substitution that allows the evolution of base composition. In order to improve the scalability of SEM-GM we present a minimum spanning tree (MST) framework called MST-backbone. MST-backbone scales linearly with the number of leaves. However, the unrealistic location of the root as inferred on empirical data suggests that the GM model may be overtrained. MST-backbone was inspired by the topological relationship between MSTs and phylogenetic trees that was introduced by Choi et al. (2011). We discovered that the topological relationship does not necessarily hold if there is no unique MST. We propose so-called vertex-order based MSTs (VMSTs) that guarantee a topological relationship with phylogenetic trees.Phylogenetische Bäume modellieren evolutionäre Beziehungen zwischen Spezies, wobei die Spezies typischerweise an den Blättern der Bäume sitzen. Wir befassen uns mit den folgenden Problemen bei der Berechnung von phylogenetischen Bäumen. (1) Blattmarkierte phylogenetische Bäume sind möglicherweise keine geeigneten Modelle der evolutionären Beziehungen zwischen sich schnell entwickelnden Krankheitserregern, die Vorfahren-Nachfahren-Paare enthalten können. (2) Die weit verbreiteten Modelle der Genevolution gehen unrealistischerweise davon aus, dass sich die Basenzusammensetzung von DNA-Sequenzen nicht ändert. Bezüglich Problem (1) stellen wir eine Methode zur Ableitung von allgemein markierten phylogenetischen Bäumen vor, die es erlaubt, Spezies, für die Proben vorliegen, an inneren des Baumes zu platzieren. Bezüglich Problem (2) stellen wir eine strukturelle Expectation-Maximization-Methode (SEM-GM) zur Ableitung von blattmarkierten phylogenetischen Bäumen unter dem allgemeinen Markov-Modell (GM) vor, das das komplexeste Modell von DNA-Substitution ist und das die Evolution von Basenzusammensetzung erlaubt. Um die Skalierbarkeit von SEM-GM zu verbessern, stellen wir ein Minimale Spannbaum (MST)-Methode vor, die als MST-Backbone bezeichnet wird. MST-Backbone skaliert linear mit der Anzahl der Blätter. Die Tatsache, dass die Lage der Wurzel aus empirischen Daten nicht immer realistisch abgeleitet warden kann, legt jedoch nahe, dass das GM-Modell möglicherweise übertrainiert ist. MST-backbone wurde von einer topologischen Beziehung zwischen minimalen Spannbäumen und phylogenetischen Bäumen inspiriert, die von Choi et al. 2011 eingeführt wurde. Wir entdeckten, dass die topologische Beziehung nicht unbedingt Bestand hat, wenn es keinen eindeutigen minimalen Spannbaum gibt. Wir schlagen so genannte vertex-order-based MSTs (VMSTs) vor, die eine topologische Beziehung zu phylogenetischen Bäumen garantieren

Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in preparation for submission to a journa