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Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

Robotics · Computer Science 2025-05-23 Heecheol Kim , Yoshiyuki Ohmura , Yasuo Kuniyoshi

Hypergraphs play a pivotal role in the modelling of data featuring higher-order relations involving more than two entities. Hypergraph neural networks emerge as a powerful tool for processing hypergraph-structured data, delivering…

Machine Learning · Computer Science 2024-06-04 Zexi Liu , Bohan Tang , Ziyuan Ye , Xiaowen Dong , Siheng Chen , Yanfeng Wang

Graph condensation aims to reduce the size of a large-scale graph dataset by synthesizing a compact counterpart without sacrificing the performance of Graph Neural Networks (GNNs) trained on it, which has shed light on reducing the…

Machine Learning · Computer Science 2024-06-19 Yuchen Zhang , Tianle Zhang , Kai Wang , Ziyao Guo , Yuxuan Liang , Xavier Bresson , Wei Jin , Yang You

Graph Convolutional Neural Networks (GCNNs) are generalizations of CNNs to graph-structured data, in which convolution is guided by the graph topology. In many cases where graphs are unavailable, existing methods manually construct graphs…

Machine Learning · Computer Science 2019-09-17 Xiang Gao , Wei Hu , Zongming Guo

Graph embedding learns low-dimensional representations for nodes in a graph and effectively preserves the graph structure. Recently, a significant amount of progress has been made toward this emerging research area. However, there are…

Machine Learning · Computer Science 2019-05-20 Yuan Yin , Zhewei Wei

Even pruned by the state-of-the-art network compression methods, Graph Neural Networks (GNNs) training upon non-Euclidean graph data often encounters relatively higher time costs, due to its irregular and nasty density properties, compared…

Machine Learning · Computer Science 2022-10-04 Chunhui Zhang , Chao Huang , Yijun Tian , Qianlong Wen , Zhongyu Ouyang , Youhuan Li , Yanfang Ye , Chuxu Zhang

Since their introduction by Kipf and Welling in $2017$, a primary use of graph convolutional networks is transductive node classification, where missing labels are inferred within a single observed graph and its feature matrix. Despite the…

Machine Learning · Statistics 2025-09-09 Nils Detering , Luca Galimberti , Anastasis Kratsios , Giulia Livieri , A. Martina Neuman

Transformer has been popular in recent crowd counting work since it breaks the limited receptive field of traditional CNNs. However, since crowd images always contain a large number of similar patches, the self-attention mechanism in…

Computer Vision and Pattern Recognition · Computer Science 2024-01-09 Hui Lin , Zhiheng Ma , Xiaopeng Hong , Qinnan Shangguan , Deyu Meng

In deep learning theory, the covariance matrix of the representations serves as a proxy to examine the network's trainability. Motivated by the success of Transformers, we study the covariance matrix of a modified Softmax-based attention…

Machine Learning · Statistics 2023-12-12 Lorenzo Noci , Chuning Li , Mufan Bill Li , Bobby He , Thomas Hofmann , Chris Maddison , Daniel M. Roy

Pretraining plays a pivotal role in acquiring generalized knowledge from large-scale data, achieving remarkable successes as evidenced by large models in CV and NLP. However, progress in the graph domain remains limited due to fundamental…

Artificial Intelligence · Computer Science 2024-06-21 Yu Song , Haitao Mao , Jiachen Xiao , Jingzhe Liu , Zhikai Chen , Wei Jin , Carl Yang , Jiliang Tang , Hui Liu

Dynamic graph learning plays a pivotal role in modeling evolving relationships over time, especially for temporal link prediction tasks in domains such as traffic systems, social networks, and recommendation platforms. While…

Machine Learning · Computer Science 2025-11-18 Tao Zou , Chengfeng Wu , Tianxi Liao , Junchen Ye , Bowen Du

Generative graph models struggle to scale due to the need to predict the existence or type of edges between all node pairs. To address the resulting quadratic complexity, existing scalable models often impose restrictive assumptions such as…

Machine Learning · Computer Science 2024-05-24 Yiming Qin , Clement Vignac , Pascal Frossard

Transformers, which are state-of-the-art in most machine learning tasks, represent the data as sequences of vectors called tokens. This representation is then exploited by the attention function, which learns dependencies between tokens and…

Machine Learning · Computer Science 2025-01-31 Valérie Castin , Pierre Ablin , José Antonio Carrillo , Gabriel Peyré

Graph convolutional networks (GCNs) are a widely used method for graph representation learning. To elucidate the capabilities and limitations of GCNs, we investigate their power, as a function of their number of layers, to distinguish…

Machine Learning · Statistics 2020-05-14 Abram Magner , Mayank Baranwal , Alfred O. Hero

Graph Neural Networks (GNNs) have received a lot of interest in the recent times. From the early spectral architectures that could only operate on undirected graphs per a transductive learning paradigm to the current state of the art…

Machine Learning · Computer Science 2021-05-18 Pushkar Mishra , Aleksandra Piktus , Gerard Goossen , Fabrizio Silvestri

Graph-structured data arise naturally in many different application domains. By representing data as graphs, we can capture entities (i.e., nodes) as well as their relationships (i.e., edges) with each other. Many useful insights can be…

Artificial Intelligence · Computer Science 2018-07-24 John Boaz Lee , Ryan A. Rossi , Sungchul Kim , Nesreen K. Ahmed , Eunyee Koh

We propose a generalization of transformer neural network architecture for arbitrary graphs. The original transformer was designed for Natural Language Processing (NLP), which operates on fully connected graphs representing all connections…

Machine Learning · Computer Science 2021-01-26 Vijay Prakash Dwivedi , Xavier Bresson

Transformer architecture has become ubiquitous in the natural language processing field. To interpret the Transformer-based models, their attention patterns have been extensively analyzed. However, the Transformer architecture is not only…

Computation and Language · Computer Science 2021-09-16 Goro Kobayashi , Tatsuki Kuribayashi , Sho Yokoi , Kentaro Inui

Self-attention has recently been adopted for a wide range of sequence modeling problems. Despite its effectiveness, self-attention suffers from quadratic compute and memory requirements with respect to sequence length. Successful approaches…

Machine Learning · Computer Science 2020-10-27 Aurko Roy , Mohammad Saffar , Ashish Vaswani , David Grangier

Large language models based on the Transformer architecture have demonstrated impressive capabilities to learn in context. However, existing theoretical studies on how this phenomenon arises are limited to the dynamics of a single layer of…

Machine Learning · Statistics 2024-06-04 Juno Kim , Taiji Suzuki
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