相关论文: Neural Online Graph Exploration

Optimal curve methods provide a fundamental framework for tubular centerline tracking. Point-wise approaches, such as minimal paths, are theoretically elegant but often suffer from shortcut and short-branch combination problems in complex…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…

Graph Neural Networks (GNNs) are a powerful representational tool for solving problems on graph-structured inputs. In almost all cases so far, however, they have been applied to directly recovering a final solution from raw inputs, without…

We consider the problem of human-assisted graph search: given a directed acyclic graph with some (unknown) target node(s), we consider the problem of finding the target node(s) by asking an omniscient human questions of the form "Is there a…

Data processing tasks over graphs couple the data residing over the nodes with the topology through graph signal processing tools. Graph filters are one such prominent tool, having been used in applications such as denoising, interpolation,…

Autonomous mobility-on-demand (AMoD) systems represent a rapidly developing mode of transportation wherein travel requests are dynamically handled by a coordinated fleet of robotic, self-driving vehicles. Given a graph representation of the…

The growing success of graph signal processing (GSP) approaches relies heavily on prior identification of a graph over which network data admit certain regularity. However, adaptation to increasingly dynamic environments as well as demands…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

Graphs are widely used as a popular representation of the network structure of connected data. Graph data can be found in a broad spectrum of application domains such as social systems, ecosystems, biological networks, knowledge graphs, and…

Graph learning plays a pivotal role and has gained significant attention in various application scenarios, from social network analysis to recommendation systems, for its effectiveness in modeling complex data relations represented by graph…

Graph signal processing (GSP) is a key tool for satisfying the growing demand for information processing over networks. However, the success of GSP in downstream learning and inference tasks is heavily dependent on the prior identification…

This work addresses the problem of online exploration and visual sensor coverage of unknown environments. We introduce a novel perception roadmap we refer to as the Active Perception Network (APN) that serves as a hierarchical topological…

Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…

Graph filters leverage topological information to process networked data with existing methods mainly studying fixed graphs, ignoring that graphs often expand as nodes continually attach with an unknown pattern. The latter requires…

This research considers Bayesian decision-analytic approaches toward the traversal of an uncertain graph. Namely, a traveler progresses over a graph in which rewards are gained upon a node's first visit and costs are incurred for every edge…

A serious challenge when finding influential actors in real-world social networks is the lack of knowledge about the structure of the underlying network. Current state-of-the-art methods rely on hand-crafted sampling algorithms; these…