Evaluating Overfit and Underfit in Models of Network Community Structure

A common data mining task on networks is community detection, which seeks an unsupervised decomposition of a network into structural groups based on statistical regularities in the network's connectivity. Although many methods exist, the No Free Lunch theorem for community detection implies that each makes some kind of tradeoff, and no algorithm can be optimal on all inputs. Thus, different algorithms will over or underfit on different inputs, finding more, fewer, or just different communities than is optimal, and evaluation methods that use a metadata partition as a ground truth will produce misleading conclusions about general accuracy. Here, we present a broad evaluation of over and underfitting in community detection, comparing the behavior of 16 state-of-the-art community detection algorithms on a novel and structurally diverse corpus of 406 real-world networks. We find that (i) algorithms vary widely both in the number of communities they find and in their corresponding composition, given the same input, (ii) algorithms can be clustered into distinct high-level groups based on similarities of their outputs on real-world networks, and (iii) these differences induce wide variation in accuracy on link prediction and link description tasks. We introduce a new diagnostic for evaluating overfitting and underfitting in practice, and use it to roughly divide community detection methods into general and specialized learning algorithms. Across methods and inputs, Bayesian techniques based on the stochastic block model and a minimum description length approach to regularization represent the best general learning approach, but can be outperformed under specific circumstances. These results introduce both a theoretically principled approach to evaluate over and underfitting in models of network community structure and a realistic benchmark by which new methods may be evaluated and compared.Comment: 22 pages, 13 figures, 3 table

BeSpaceD: Towards a Tool Framework and Methodology for the Specification and Verification of Spatial Behavior of Distributed Software Component Systems

In this report, we present work towards a framework for modeling and checking behavior of spatially distributed component systems. Design goals of our framework are the ability to model spatial behavior in a component oriented, simple and intuitive way, the possibility to automatically analyse and verify systems and integration possibilities with other modeling and verification tools. We present examples and the verification steps necessary to prove properties such as range coverage or the absence of collisions between components and technical details

Scenic: A Language for Scenario Specification and Scene Generation

We propose a new probabilistic programming language for the design and analysis of perception systems, especially those based on machine learning. Specifically, we consider the problems of training a perception system to handle rare events, testing its performance under different conditions, and debugging failures. We show how a probabilistic programming language can help address these problems by specifying distributions encoding interesting types of inputs and sampling these to generate specialized training and test sets. More generally, such languages can be used for cyber-physical systems and robotics to write environment models, an essential prerequisite to any formal analysis. In this paper, we focus on systems like autonomous cars and robots, whose environment is a "scene", a configuration of physical objects and agents. We design a domain-specific language, Scenic, for describing "scenarios" that are distributions over scenes. As a probabilistic programming language, Scenic allows assigning distributions to features of the scene, as well as declaratively imposing hard and soft constraints over the scene. We develop specialized techniques for sampling from the resulting distribution, taking advantage of the structure provided by Scenic's domain-specific syntax. Finally, we apply Scenic in a case study on a convolutional neural network designed to detect cars in road images, improving its performance beyond that achieved by state-of-the-art synthetic data generation methods.Comment: 41 pages, 36 figures. Full version of a PLDI 2019 paper (extending UC Berkeley EECS Department Tech Report No. UCB/EECS-2018-8

Scalable Mining of Common Routes in Mobile Communication Network Traffic Data

A probabilistic method for inferring common routes from mobile communication network traffic data is presented. Besides providing mobility information, valuable in a multitude of application areas, the method has the dual purpose of enabling efficient coarse-graining as well as anonymisation by mapping individual sequences onto common routes. The approach is to represent spatial trajectories by Cell ID sequences that are grouped into routes using locality-sensitive hashing and graph clustering. The method is demonstrated to be scalable, and to accurately group sequences using an evaluation set of GPS tagged data

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

A Comprehensive Survey of Deep Learning in Remote Sensing: Theories, Tools and Challenges for the Community

In recent years, deep learning (DL), a re-branding of neural networks (NNs), has risen to the top in numerous areas, namely computer vision (CV), speech recognition, natural language processing, etc. Whereas remote sensing (RS) possesses a number of unique challenges, primarily related to sensors and applications, inevitably RS draws from many of the same theories as CV; e.g., statistics, fusion, and machine learning, to name a few. This means that the RS community should be aware of, if not at the leading edge of, of advancements like DL. Herein, we provide the most comprehensive survey of state-of-the-art RS DL research. We also review recent new developments in the DL field that can be used in DL for RS. Namely, we focus on theories, tools and challenges for the RS community. Specifically, we focus on unsolved challenges and opportunities as it relates to (i) inadequate data sets, (ii) human-understandable solutions for modelling physical phenomena, (iii) Big Data, (iv) non-traditional heterogeneous data sources, (v) DL architectures and learning algorithms for spectral, spatial and temporal data, (vi) transfer learning, (vii) an improved theoretical understanding of DL systems, (viii) high barriers to entry, and (ix) training and optimizing the DL.Comment: 64 pages, 411 references. To appear in Journal of Applied Remote Sensin

Practical applications of probabilistic model checking to communication protocols

Probabilistic model checking is a formal verification technique for the analysis of systems that exhibit stochastic behaviour. It has been successfully employed in an extremely wide array of application domains including, for example, communication and multimedia protocols, security and power management. In this chapter we focus on the applicability of these techniques to the analysis of communication protocols. An analysis of the performance of such systems must successfully incorporate several crucial aspects, including concurrency between multiple components, real-time constraints and randomisation. Probabilistic model checking, in particular using probabilistic timed automata, is well suited to such an analysis. We provide an overview of this area, with emphasis on an industrially relevant case study: the IEEE 802.3 (CSMA/CD) protocol. We also discuss two contrasting approaches to the implementation of probabilistic model checking, namely those based on numerical computation and those based on discrete-event simulation. Using results from the two tools PRISM and APMC, we summarise the advantages, disadvantages and trade-offs associated with these techniques