Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the biological swarm literature, with the leading models being the metric, topological, and visual models. The hypothesis evaluated in this manuscript is whether the choice of a communication model impacts the performance of a tasked artificial swarm. The biological models are used to design coordination algorithms for a simulated swarm, which are evaluated over a range of six swarm robotics tasks. Each task has an associated set of performance metrics that are used to evaluate how the communication models fare against each other. The general findings demonstrate that the communication model significantly affects the swarm's performance for individual tasks, and this result implies that the communication model-task pairing is an important consideration when designing artificial swarms. Further analysis of each tasks' performance metrics reveal instances in which pairwise considerations of model and one of the various experimental factors becomes relevant. The reported research demonstrates that the artificial swarm's task performance can be increased through the careful selection of a communications model.
The metric model is one of the earliest models developed to represent range-limited communication between biological swarm agents @cite_27 @cite_19 @cite_42 . This model is used as a benchmark for comparison testing relatively newer communication models @cite_48 @cite_21 @cite_28 . The model is widely-used in the field of multi-robot systems, as well, due to its ability to capture sensor range constraints @cite_58 @cite_36 @cite_54 . However, a field study of European starlings, Sturnus vulgaris , indicates that the swarm uses a topological, rather than a range limited model @cite_21 . Specifically, starlings coordinate with their nearest six to seven neighbors (topological distance). An artificial swarm, in response to a simulated predator, decomposes into fewer groups, and produces more cohesive swarms, when using the topological model compared to the metric model @cite_21 . Strandburg-Peshkin @cite_48 introduced the visual model, and show that it best predicts how golden shiners, Notemigonus crysoleucas , behave in response to stimuli. The model's low clustering makes it fundamentally different from the metric and topological models, from a network-theoretic perspective.
@cite_28 @cite_48 @cite_36 @cite_42 @cite_21 @cite_54 @cite_19 @cite_27 @cite_58
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Numerical models indicate that collective animal behavior may emerge from simple local rules of interaction among the individuals. However, very little is known about the nature of such interaction, so that models and theories mostly rely on aprioristic assumptions. By reconstructing the three-dimensional positions of individual birds in airborne flocks of a few thousand members, we show that the interaction does not depend on the metric distance, as most current models and theories assume, but rather on the topological distance. In fact, we discovered that each bird interacts on average with a fixed number of neighbors (six to seven), rather than with all neighbors within a fixed metric distance. We argue that a topological interaction is indispensable to maintain a flock's cohesion against the large density changes caused by external perturbations, typically predation. We support this hypothesis by numerical simulations, showing that a topological interaction grants significantly higher cohesion of the aggregation compared with a standard metric one. Social transmission of information is vital for many group-living animals, allowing coordination of motion and effective response to complex environments. Revealing the interaction networks underlying information flow within these groups is a central challenge [1]. Previous work has modeled interactions between individuals based directly on their relative spatial positions: each individual is considered to interact with all neighbors within a fixed distance (metric range [2]), a fixed number of nearest neighbors (topological range [3]), a ‘shell’ of near neighbors (Voronoi range [4]), or some combination (Figure 1A). However, conclusive evidence to support these assumptions is lacking. Here, we employ a novel approach that considers individual movement decisions to be based explicitly on the sensory information available to the organism. In other words, we consider that while spatial relations do inform interactions between individuals, they do so indirectly, through individuals’ detection of sensory cues. We reconstruct computationally the visual field of each individual throughout experiments designed to investigate information propagation within fish schools (golden shiners, Notemigonus crysoleucas). Explicitly considering visual sensing allows us to more accurately predict the propagation of behavioral change in these groups during leadership events. Furthermore, we find that structural properties of visual interaction networks differ markedly from those of metric and topological counterparts, suggesting that previous assumptions may not appropriately reflect information flow in animal groups. We consider two variants of the task of spreading a swarm of agents uniformly on a ring graph. Ant-like oblivious agents having limited capabilities are considered. The agents are assumed to have little memory, they all execute the same algorithm and no direct communication is allowed between them. Furthermore, the agents do not possess any global information. In particular, the size of the ring (n) and the number of agents in the swarm (k) are unknown to them. The agents are assumed to operate on an unweighted ring graph. Every agent can measure the distance to his two neighbors on the ring, up to a limited range of V edges. The first task considered, is dynamical (i.e. in motion) uniform deployment on the ring. We show that if either the ring is unoriented, or the visibility range is less than @?n [email protected]?, this is an impossible mission for the agents. Then, for an oriented ring and V>[email protected]?n [email protected]?, we propose an algorithm which achieves the deployment task in optimal time. The second task discussed, called quiescent spread, requires the agents to spread uniformly over the ring and stop moving. We prove that under our model, in which every agent can measure the distance only to his two neighbors, this task is impossible. Subsequently, we propose an algorithm which achieves quiescent but only almost uniform spread. The algorithms we present are scalable and robust. In case the environment (the size of the ring) or the number of agents changes during the run, the swarm adapts and re-deploys without requiring any outside interference. The objective of sparse metric learning is to learn a distance measure from a set of data in addition to finding a low-dimensional representation. Despite demonstrated success, the performance of existing sparse metric learning approaches is usually limited because the methods assumes certain problem relaxations or they target the SML objective indirectly. In this paper, we propose a Generalized Sparse Metric Learning method. This novel framework offers a unified view for understanding many existing sparse metric learning algorithms including the Sparse Metric Learning framework proposed in (Rosales and Fung ACM International conference on knowledge discovery and data mining (KDD), pp 367–373, 2006), the Large Margin Nearest Neighbor ( in Advances in neural information processing systems (NIPS), 2006; Weinberger and Saul in Proceedings of the twenty-fifth international conference on machine learning (ICML-2008), 2008), and the D-ranking Vector Machine (D-ranking VM) (Ouyang and Gray in Proceedings of the twenty-fifth international conference on machine learning (ICML-2008), 2008). Moreover, GSML also establishes a close relationship with the Pairwise Support Vector Machine ( in BMC Bioinform, 8, 2007). Furthermore, the proposed framework is capable of extending many current non-sparse metric learning models to their sparse versions including Relevant Component Analysis (Bar- in J Mach Learn Res, 6:937–965, 2005) and a state-of-the-art method proposed in ( Advances in neural information processing systems (NIPS), 2002). We present the detailed framework, provide theoretical justifications, build various connections with other models, and propose an iterative optimization method, making the framework both theoretically important and practically scalable for medium or large datasets. Experimental results show that this generalized framework outperforms six state-of-the-art methods with higher accuracy and significantly smaller dimensionality for seven publicly available datasets. This paper proposes a new neural architecture for collaborative ranking with implicit feedback. Our model, LRML (Latent Relational Metric Learning) is a novel extension of metric learning approaches for recommendation. More specifically, instead of simple push pull mechanisms between user and item pairs, we propose to learn latent relations for each user item interaction. This helps to alleviate the potential geometric inflexibility of existing metric learning approaches. This not only enables better performance but also a greater extent of modeling capability, allowing our model to scale to larger number of interactions. In order to do so, we employ a augmented memory module and learn to attend over these memory blocks to construct latent relations. The attention module is controlled by the user-item interaction, making the learned relation vector specific to each user-item pair. Hence, this can be interpreted as learning an exclusive and optimal relational translation for each user-item interaction. The proposed architecture not only demonstrates the state-of-the-art performance across multiple recommendation benchmarks. LRML outperforms other metric learning models by 6 -7.5 in terms of Hits@10 and nDCG@10 on large datasets such as Netflix and MovieLens20M. Moreover, qualitative studies also demonstrate evidence that our proposed model is able to infer and encode explicit sentiment, temporal and attribute information despite being only trained on implicit feedback. As such, this ascertains the ability of LRML to uncover hidden relational structure within implicit datasets. The metric Ramsey problem asks for the largest subset S of a metric space that can be embedded into an ultrametric (more generally into a Hilbert space) with a given distortion. Study of this problem was motivated as a non-linear version of Dvoretzky theorem. Mendel and Naor [MN07] devised the so called Ramsey Partitions to address this problem, and showed the algorithmic applications of their techniques to approximate distance oracles and ranking problems. In this paper we study the natural extension of the metric Ramsey problem to graphs, and introduce the notion of Ramsey Spanning Trees. We ask for the largest subset S ⊆ V of a given graph G = (V, E), such that there exists a spanning tree of G that has small stretch for S. Applied iteratively, this provides a small collection of spanning trees, such that each vertex has a tree providing low stretch paths to all other vertices. The union of these trees serves as a special type of spanner, a tree-padding spanner. We use this spanner to devise the first compact stateless routing scheme with O(1) routing decision time, and labels which are much shorter than in all currently existing schemes. We first revisit the metric Ramsey problem, and provide a new deterministic construction. We prove that for every k, any n-point metric space has a subset S of size at least n1--1 k which embeds into an ultrametric with distortion 8k. We use this result to obtain the state-of-the-art deterministic construction of a distance oracle. Building on this result, we prove that for every k, any n-vertex graph G = (V, E) has a subset S of size at least n1--1 k, and a spanning tree of G, that has stretch O(k log log n) between any point in S and any point in V. Designing and analyzing self-organizing systems such as robotic swarms is a challenging task even though we have complete knowledge about the robot’s interior. It is difficult to determine the individual robot’s behavior based on the swarm behavior and vice versa due to the high number of agent–agent interactions. A step towards a solution of this problem is the development of appropriate models which accurately predict the swarm behavior based on a specified control algorithm. Such models would reduce the necessary number of time-consuming simulations and experiments during the design process of an algorithm. In this paper we propose a model with focus on an explicit representation of space because the effectiveness of many swarm robotic scenarios depends on spatial inhomogeneity. We use methods of statistical physics to address spatiality. Starting from a description of a single robot we derive an abstract model of swarm motion. The model is then extended to a generic model framework of communicating robots. In two examples we validate models against simulation results. Our experience shows that qualitative correctness is easily achieved, while quantitative correctness is disproportionately more difficult but still possible. We use distributed computing tools to provide a new perspective on the behavior of cooperative biological ensembles. We introduce the Ants Nearby Treasure Search (ANTS) problem, a generalization of the classical cow-path problem [10, 20, 41, 42], which is relevant for collective foraging in animal groups. In the ANTS problem, k identical (probabilistic) agents, initially placed at some central location, collectively search for a treasure in the two-dimensional plane. The treasure is placed at a target location by an adversary and the goal is to find it as fast as possible as a function of both k and D, where D is the distance between the central location and the target. This is biologically motivated by cooperative, central place foraging, such as performed by ants around their nest. In this type of search there is a strong preference to locate nearby food sources before those that are further away. We focus on trying to find what can be achieved if communication is limited or altogether absent. Indeed, to avoid overlaps agents must be highly dispersed making communication difficult. Furthermore, if the agents do not commence the search in synchrony, then even initial communication is problematic. This holds, in particular, with respect to the question of whether the agents can communicate and conclude their total number, k. It turns out that the knowledge of k by the individual agents is crucial for performance. Indeed, it is a straightforward observation that the time required for finding the treasure is Ω(D + D2 k), and we show in this paper that this bound can be matched if the agents have knowledge of k up to some constant approximation. We present a tight bound for the competitive penalty that must be paid, in the running time, if the agents have no information about k. Specifically, this bound is slightly more than logarithmic in the number of agents. In addition, we give a lower bound for the setting in which the agents are given some estimation of k. Informally, our results imply that the agents can potentially perform well without any knowledge of their total number k, however, to further improve, they must use some information regarding k. Finally, we propose a uniform algorithm that is both efficient and extremely simple, suggesting its relevance for actual biological scenarios. Clustering at multiple critical scales may be common for plants since many different factors and processes may cause clustering. This is especially true for tropical rain forests for which theories explaining species coexistence and community structure rest heavily on spatial patterns. We used point pattern analysis to analyze the spatial structure of Shorea congestiflora, a dominant species in a 25-ha forest dynamics plot in a rain forest at Sinharaja World Heritage Site (Sri Lanka), which apparently shows clustering at several scales. We developed cluster processes incorporating two critical scales of clustering for exploring the spatial structure of S. congestiflora and interpret it in relation to factors such as competition, dispersal limitation, recruitment limitation, and Janzen-Connell effects. All size classes showed consistent large-scale clustering with a cluster radius of ;25 m. Inside the larger clusters, small-scale clusters with a radius of 8 m were evident for recruits and saplings, weak for intermediates, and disappeared for adults. The pattern of all trees could be divided into two independent patterns: a random pattern (nearest neighbor distance . 8m ) comprising ;12 of the trees and a nested double-cluster pattern. This finding suggests two independent recruitment and or seed dispersal mechanisms. Saplings were several times as abundant as recruits and may accumulate several recruit generations. Recruits were only weakly associated with adults and occupied about half of the large-scale clusters, but saplings almost all. This is consistent with recruitment limitation. For ;70 (95 ) of all juveniles the nearest adult was less than 26 m away (53 m), suggesting a dispersal limitation that may also be related to the critical large-scale clustering. Our example illustrates the manner in which the use of a specific and complex null hypothesis of spatial structure in point pattern analysis can help us better understand the biology of a species and generate specific hypotheses to be further investigated in the field. Metric learning aims at finding a distance that approximates a task-specific notion of semantic similarity. Typically, a Mahalanobis distance is learned from pairs of data labeled as being semantically similar or not. In this paper, we learn such metrics in a weakly supervised setting where "bags" of instances are labeled with "bags" of labels. We formulate the problem as a multiple instance learning (MIL) problem over pairs of bags. If two bags share at least one label, we label the pair positive, and negative otherwise. We propose to learn a metric using those labeled pairs of bags, leading to MildML, for multiple instance logistic discriminant metric learning. MildML iterates between updates of the metric and selection of putative positive pairs of examples from positive pairs of bags. To evaluate our approach, we introduce a large and challenging data set, Labeled Yahoo! News, which we have manually annotated and contains 31147 detected faces of 5873 different people in 20071 images. We group the faces detected in an image into a bag, and group the names detected in the caption into a corresponding set of labels. When the labels come from manual annotation, we find that MildML using the bag-level annotation performs as well as fully supervised metric learning using instance-level annotation. We also consider performance in the case of automatically extracted labels for the bags, where some of the bag labels do not correspond to any example in the bag. In this case MildML works substantially better than relying on noisy instance-level annotations derived from the bag-level annotation by resolving face-name associations in images with their captions. The spatial preferred attachment (SPA) model is a model for networked information spaces such as domains of the World Wide Web, citation graphs, and on-line social networks. It uses a metric space to model the hidden attributes of the vertices. Thus, vertices are elements of a metric space, and link formation depends on the metric distance between vertices. We show, through theoretical analysis and simulation, that for graphs formed according to the SPA model it is possible to infer the metric distance between vertices from the link structure of the graph. Precisely, the estimate is based on the number of common neighbours of a pair of vertices, a measure known as co-citation. To be able to calculate this estimate, we derive a precise relation between the number of common neighbours and metric distance. We also analyse the distribution of edge lengths, where the length of an edge is the metric distance between its end points. We show that this distribution has three different regimes, and that the tail of this distribution follows a power law. The ability to evaluate the performance of a computational model is a vital requirement for driving algorithm research. This is often particularly difficult for generative models such as generative adversarial networks (GAN) that model a data manifold only specified indirectly by a finite set of training examples. In the common case of image data, the samples live in a high-dimensional embedding space with little structure to help assessing either the overall quality of samples or the coverage of the underlying manifold. We present an evaluation metric with the ability to separately and reliably measure both of these aspects in image generation tasks by forming explicit non-parametric representations of the manifolds of real and generated data. We demonstrate the effectiveness of our metric in StyleGAN and BigGAN by providing several illustrative examples where existing metrics yield uninformative or contradictory results. Furthermore, we analyze multiple design variants of StyleGAN to better understand the relationships between the model architecture, training methods, and the properties of the resulting sample distribution. In the process, we identify new variants that improve the state-of-the-art. We also perform the first principled analysis of truncation methods and identify an improved method. Finally, we extend our metric to estimate the perceptual quality of individual samples, and use this to study latent space interpolations. We introduce an approach to learn discriminative visual representations while exploiting external semantic knowledge about object category relationships. Given a hierarchical taxonomy that captures semantic similarity between the objects, we learn a corresponding tree of metrics (ToM). In this tree, we have one metric for each non-leaf node of the object hierarchy, and each metric is responsible for discriminating among its immediate subcategory children. Specifically, a Mahalanobis metric learned for a given node must satisfy the appropriate (dis)similarity constraints generated only among its subtree members' training instances. To further exploit the semantics, we introduce a novel regularizer coupling the metrics that prefers a sparse disjoint set of features to be selected for each metric relative to its ancestor (supercategory) nodes' metrics. Intuitively, this reflects that visual cues most useful to distinguish the generic classes (e.g., feline vs. canine) should be different than those cues most useful to distinguish their component fine-grained classes (e.g., Persian cat vs. Siamese cat). We validate our approach with multiple image datasets using the WordNet taxonomy, show its advantages over alternative metric learning approaches, and analyze the meaning of attribute features selected by our algorithm. Abstract For the last decades, computer-based visual attention models aiming at automatically predicting human gaze on images or videos have exponentially increased. Even if several families of methods have been proposed and a lot of words like centre-surround difference, contrast, rarity, novelty, redundancy, irregularity, surprise or compressibility have been used to define those models, they are all based on the same and unique idea of information innovation in a given context . In this paper, we propose a novel saliency prediction model, called RARE2012, which selects information worthy of attention based on multi-scale spatial rarity. RARE2012 is then evaluated using two complementary metrics, the Normalized Scanpath Saliency (NSS) and the Area Under the Receiver Operating Characteristic (AUROC) against 13 recently published saliency models. It is shown to be the best for NSS metric and second best for AUROC metric on three publicly available datasets (Toronto, Koostra and Jian Li). Finally, based on an additional comparative statistical analysis and the effect-size Hedge' g ⁎ measure, RARE2012 outperforms, at least slightly, the other models while considering both metrics on the three databases as a whole. We describe a latent variable model for supervised dimensionality reduction and distance metric learning. The model discovers linear projections of high dimensional data that shrink the distance between similarly labeled inputs and expand the distance between differently labeled ones. The model's continuous latent variables locate pairs of examples in a latent space of lower dimensionality. The model differs significantly from classical factor analysis in that the posterior distribution over these latent variables is not always multivariate Gaussian. Nevertheless we show that inference is completely tractable and derive an Expectation-Maximization (EM) algorithm for parameter estimation. We also compare the model to other approaches in distance metric learning. The model's main advantage is its simplicity: at each iteration of the EM algorithm, the distance metric is re-estimated by solving an unconstrained least-squares problem. Experiments show that these simple updates are highly effective. This paper presents a new real-time hierarchical (topological metric) simultaneous localization and mapping (SLAM) system. It can be applied to the robust localization of a vehicle in large-scale outdoor urban environments, improving the current vehicle navigation systems, most of which are only based on Global Positioning System (GPS). Then, it can be used on autonomous vehicle guidance with recurrent trajectories (bus journeys, theme park internal journeys, etc.). It is exclusively based on the information provided by both a low-cost, wide-angle stereo camera and a low-cost GPS. Our approach divides the whole map into local submaps identified by the so-called fingerprints (vehicle poses). In this submap level (low-level SLAM), a metric approach is carried out. There, a 3-D sequential mapping of visual natural landmarks and the vehicle location orientation are obtained using a top-down Bayesian method to model the dynamic behavior. GPS measurements are integrated within this low-level improving vehicle positioning. A higher topological level (high-level SLAM) based on fingerprints and the multilevel relaxation (MLR) algorithm has been added to reduce the global error within the map, keeping real-time constraints. This level provides nearly consistent estimation, keeping a small degradation with GPS unavailability. Some experimental results for large-scale outdoor urban environments are presented, showing an almost constant processing time. If a false rumor propagates via Twitter, while the truth propagates between friends in Facebook, which one will prevail? This question captures the essence of the problem we address here. We study the intertwined propagation of two competing "memes" (or viruses, rumors, products etc.) in a composite network. A key novelty is the use of a composite network, which in its simplest model is defined as a single set of nodes with two distinct types of edges interconnecting them. Each meme spreads across the composite network in accordance to an SIS-like propagation model (a flu-like infection-recovery). To study the epidemic behavior of our system, we formulate it as a non-linear dynamic system (NLDS). We develop a metric for each meme that is based on the eigenvalue of an appropriately constructed matrix and argue that this metric plays a key role in determining the "winning" meme. First, we prove that our metric determines the tipping point at which both memes become extinct eventually. Second, we conjecture that the meme with the strongest metric will most likely prevail over the other, and we show evidence of that via simulations in both real and synthetic composite networks. Our work is among the first to study the interplay between two competing memes in composite networks. Local learning of sparse image models has proved to be very effective to solve inverse problems in many computer vision applications. To learn such models, the data samples are often clustered using the K-means algorithm with the Euclidean distance as a dissimilarity metric. However, the Euclidean distance may not always be a good dissimilarity measure for comparing data samples lying on a manifold. In this paper, we propose two algorithms for determining a local subset of training samples from which a good local model can be computed for reconstructing a given input test sample, where we consider the underlying geometry of the data. The first algorithm, called adaptive geometry-driven nearest neighbor search (AGNN), is an adaptive scheme, which can be seen as an out-of-sample extension of the replicator graph clustering method for local model learning. The second method, called geometry-driven overlapping clusters (GOCs), is a less complex nonadaptive alternative for training subset selection. The proposed AGNN and GOC methods are evaluated in image superresolution and shown to outperform spectral clustering, soft clustering, and geodesic distance-based subset selection in most settings. Recent works have shown that exploiting multi-scale representations deeply learned via convolutional neural networks (CNN) is of tremendous importance for accurate contour detection. This paper presents a novel approach for predicting contours which advances the state of the art in two fundamental aspects, i.e. multi-scale feature generation and fusion. Different from previous works directly considering multi-scale feature maps obtained from the inner layers of a primary CNN architecture, we introduce a hierarchical deep model which produces more rich and complementary representations. Furthermore, to refine and robustly fuse the representations learned at different scales, the novel Attention-Gated Conditional Random Fields (AG-CRFs) are proposed. The experiments ran on two publicly available datasets (BSDS500 and NYUDv2) demonstrate the effectiveness of the latent AG-CRF model and of the overall hierarchical framework. A prominent tool in many problems involving metric spaces is a notion of randomized low-diameter decomposition. Loosely speaking, ( )-decomposition refers to a probability distribution over partitions of the metric into sets of low diameter, such that nearby points (parameterized by ( >0 )) are likely to be “clustered” together. Applying this notion to the shortest-path metric in edge-weighted graphs, it is known that n-vertex graphs admit an (O( n) )-padded decomposition (Bartal, 37th annual symposium on foundations of computer science. IEEE, pp 184–193, 1996), and that excluded-minor graphs admit O(1)-padded decomposition (, 25th annual ACM symposium on theory of computing, pp 682–690, 1993; Fakcharoenphol and Talwar, J Comput Syst Sci 69(3), 485–497, 2004; , Proceedings of the 46th annual ACM symposium on theory of computing. STOC ’14, pp 79–88. ACM, New York, NY, USA, 2014). We design decompositions to the family of p-path-separable graphs, which was defined by Abraham and Gavoille (Proceedings of the twenty-fifth annual acm symposium on principles of distributed computing, PODC ’06, pp 188–197, 2006) and refers to graphs that admit vertex-separators consisting of at most p shortest paths in the graph. Our main result is that every p-path-separable n-vertex graph admits an (O( (p n)) )-decomposition, which refines the (O( n) ) bound for general graphs, and provides new bounds for families like bounded-treewidth graphs. Technically, our clustering process differs from previous ones by working in (the shortest-path metric of) carefully chosen subgraphs.