Hyperlinks are an essential feature of the World Wide Web. They are especially important for online encyclopedias such as Wikipedia: an article can often only be understood in the context of related articles, and hyperlinks make it easy to explore this context. But important links are often missing, and several methods have been proposed to alleviate this problem by learning a linking model based on the structure of the existing links. Here we propose a novel approach to identifying missing links in Wikipedia. We build on the fact that the ultimate purpose of Wikipedia links is to aid navigation. Rather than merely suggesting new links that are in tune with the structure of existing links, our method finds missing links that would immediately enhance Wikipedia's navigability. We leverage data sets of navigation paths collected through a Wikipedia-based human-computation game in which users must find a short path from a start to a target article by only clicking links encountered along the way. We harness human navigational traces to identify a set of candidates for missing links and then rank these candidates. Experiments show that our procedure identifies missing links of high quality.
Much research has followed in Kleinberg's wake, so we focus on the most directly related projects: data sets such as ours were previously analyzed by West and Leskovec, who characterize human strategies in successful navigation tasks @cite_47 and train machine learning models capable of navigating automatically @cite_37 , and by Helic al @cite_13 and Trattner al @cite_1 , who explore heuristic navigation algorithms based on hierarchical knowledge representations.
@cite_1 @cite_47 @cite_13 @cite_37
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This letter presents a case study of a learning-based approach for target-driven mapless navigation. The underlying navigation model is an end-to-end neural network, which is trained using a combination of expert demonstrations, imitation learning (IL) and reinforcement learning (RL). While RL and IL suffer from a large sample complexity and the distribution mismatch problem, respectively, we show that leveraging prior expert demonstrations for pretraining can reduce the training time to reach at least the same level of the performance compared to plain RL by a factor of 5. We present a thorough evaluation of different combinations of expert demonstrations, different RL algorithms, and reward functions, both in simulation and on a real robotic platform. Our results show that the final model outperforms both standalone approaches in the amount of successful navigation tasks. In addition, the RL reward function can be significantly simplified when using pretraining, e.g., by using a sparse reward only. The learned navigation policy is able to generalize to unseen and real-world environments. As humans we possess an intuitive ability for navigation which we master through years of practice; however existing approaches to model this trait for diverse tasks including monitoring pedestrian flow and detecting abnormal events have been limited by using a variety of hand-crafted features. Recent research in the area of deep-learning has demonstrated the power of learning features directly from the data; and related research in recurrent neural networks has shown exemplary results in sequence-to-sequence problems such as neural machine translation and neural image caption generation. Motivated by these approaches, we propose a novel method to predict the future motion of a pedestrian given a short history of their, and their neighbours, past behaviour. The novelty of the proposed method is the combined attention model which utilises both "soft attention" as well as "hard-wired" attention in order to map the trajectory information from the local neighbourhood to the future positions of the pedestrian of interest. We illustrate how a simple approximation of attention weights (i.e hard-wired) can be merged together with soft attention weights in order to make our model applicable for challenging real world scenarios with hundreds of neighbours. The navigational capability of the proposed method is tested on two challenging publicly available surveillance databases where our model outperforms the current-state-of-the-art methods. Additionally, we illustrate how the proposed architecture can be directly applied for the task of abnormal event detection without handcrafting the features. Navigation research is attracting renewed interest with the advent of learning-based methods. However, this new line of work is largely disconnected from well-established classic navigation approaches. In this paper, we take a step towards coordinating these two directions of research. We set up classic and learning-based navigation systems in common simulated environments and thoroughly evaluate them in indoor spaces of varying complexity, with access to different sensory modalities. Additionally, we measure human performance in the same environments. We find that a classic pipeline, when properly tuned, can perform very well in complex cluttered environments. On the other hand, learned systems can operate more robustly with a limited sensor suite. Overall, both approaches are still far from human-level performance. People regularly face tasks that can be understood as navigation in information networks, where the goal is to find a path between two given nodes. In many such situations, the navigator only gets local access to the node currently under inspection and its immediate neighbors. This lack of global information about the network notwithstanding, humans tend to be good at finding short paths, despite the fact that realworld networks are typically very large. One potential reason for this could be that humans possess vast amounts of background knowledge about the world, which they leverage to make good guesses about possible solutions. In this paper we ask the question: Are human-like high-level reasoning skills really necessary for finding short paths? To answer this question, we design a number of navigation agents without such skills, which use only simple numerical features. We evaluate the agents on the task of navigating Wikipedia, a domain for which we also possess large-scale human navigation data. We observe that the agents find shorter paths than humans on average and therefore conclude that, perhaps surprisingly, no sophisticated background knowledge or high-level reasoning is required for navigating the complex Wikipedia network.