Chromatic quasisymmetric functions

We introduce a quasisymmetric refinement of Stanley's chromatic symmetric function. We derive refinements of both Gasharov's Schur-basis expansion of the chromatic symmetric function and Chow's expansion in Gessel's basis of fundamental quasisymmetric functions. We present a conjectural refinement of Stanley's power sum basis expansion, which we prove in special cases. We describe connections between the chromatic quasisymmetric function and both the $q$-Eulerian polynomials introduced in our earlier work and, conjecturally, representations of symmetric groups on cohomology of regular semisimple Hessenberg varieties, which have been studied by Tymoczko and others. We discuss an approach, using the results and conjectures herein, to the $e$-positivity conjecture of Stanley and Stembridge for incomparability graphs of $(3+1)$-free posets.Comment: 57 pages; final version, to appear in Advances in Mat

Geometrically constructed bases for homology of partition lattices of types A, B and D

We use the theory of hyperplane arrangements to construct natural bases for the homology of partition lattices of types A, B and D. This extends and explains the "splitting basis" for the homology of the partition lattice given in [Wa96], thus answering a question asked by R. Stanley. More explicitly, the following general technique is presented and utilized. Let A be a central and essential hyperplane arrangement in R^d. Let R_1,...,R_k be the bounded regions of a generic hyperplane section of A. We show that there are induced polytopal cycles \rho_{R_i} in the homology of the proper part \bar{L_A} of the intersection lattice such that {\rho_{R_i}}_{i=1,...,k} is a basis for \tilde H_{d-2}(\bar{L_A}). This geometric method for constructing combinatorial homology bases is applied to the Coxeter arrangements of types A, B and D, and to some interpolating arrangements.Comment: 29 pages, 4 figure

Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration

Turn-taking is essential to the structure of human teamwork. Humans are typically aware of team members' intention to keep or relinquish their turn before a turn switch, where the responsibility of working on a shared task is shifted. Future co-robots are also expected to provide such competence. To that end, this paper proposes the Cognitive Turn-taking Model (CTTM), which leverages cognitive models (i.e., Spiking Neural Network) to achieve early turn-taking prediction. The CTTM framework can process multimodal human communication cues (both implicit and explicit) and predict human turn-taking intentions in an early stage. The proposed framework is tested on a simulated surgical procedure, where a robotic scrub nurse predicts the surgeon's turn-taking intention. It was found that the proposed CTTM framework outperforms the state-of-the-art turn-taking prediction algorithms by a large margin. It also outperforms humans when presented with partial observations of communication cues (i.e., less than 40% of full actions). This early prediction capability enables robots to initiate turn-taking actions at an early stage, which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation (ICRA) 201

Eulerian quasisymmetric functions

We introduce a family of quasisymmetric functions called {\em Eulerian quasisymmetric functions}, which specialize to enumerators for the joint distribution of the permutation statistics, major index and excedance number on permutations of fixed cycle type. This family is analogous to a family of quasisymmetric functions that Gessel and Reutenauer used to study the joint distribution of major index and descent number on permutations of fixed cycle type. Our central result is a formula for the generating function for the Eulerian quasisymmetric functions, which specializes to a new and surprising $q$-analog of a classical formula of Euler for the exponential generating function of the Eulerian polynomials. This $q$-analog computes the joint distribution of excedance number and major index, the only of the four important Euler-Mahonian distributions that had not yet been computed. Our study of the Eulerian quasisymmetric functions also yields results that include the descent statistic and refine results of Gessel and Reutenauer. We also obtain $q$-analogs, $(q,p)$-analogs and quasisymmetric function analogs of classical results on the symmetry and unimodality of the Eulerian polynomials. Our Eulerian quasisymmetric functions refine symmetric functions that have occurred in various representation theoretic and enumerative contexts including MacMahon's study of multiset derangements, work of Procesi and Stanley on toric varieties of Coxeter complexes, Stanley's work on chromatic symmetric functions, and the work of the authors on the homology of a certain poset introduced by Bj\"orner and Welker.Comment: Final version; to appear in Advances in Mathematics; 52 pages; this paper was originally part of the longer paper arXiv:0805.2416v1, which has been split into three paper