20 accepted papers
Optimal power flow is a critical optimization problem that allocates power to the generators in order to satisfy the demand at a minimum cost. This is a non-convex problem shown to be NP-hard. We use a graph neural network to learn a nonlinear function between the power demanded and the correspondin…
Power allocation is one of the fundamental problems in wireless networks and a wide variety of algorithms address this problem from different perspectives. A common element among these algorithms is that they rely on an estimation of the channel state, which may be inaccurate on account of hardware…
Particle filtering is used to compute nonlinear estimates of complex systems. It samples trajectories from a chosen distribution and computes the estimate as a weighted average of them. Easy-to-sample distributions often lead to degenerate samples where only one trajectory carries all the weight, ne…
Network data can be conveniently modeled as a graph signal, where data values are assigned to the nodes of a graph describing the underlying network topology. Successful learning from network data requires methods that effectively exploit this graph structure. Graph neural networks (GNNs) provide on…
Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal centralized controllers are readily available but face limit…
Graph convolutional neural networks (GCNNs) learn compositional representations from network data by nesting linear graph convolutions into nonlinearities. In this work, we approach GCNNs from a state-space perspective revealing that the graph convolutional module is a minimalistic linear state-spac…
Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based solely on raw visual inputs. For the first time, this integrates the lear…
Graph neural networks (GNNs) learn representations from network data with naturally distributed architectures, rendering them well-suited candidates for decentralized learning. Oftentimes, this decentralized graph support changes with time due to link failures or topology variations. These changes c…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues and move beyond hand-crafted heuristics, we propose a combin…
Optimal power flow (OPF) is one of the most important optimization problems in the energy industry. In its simplest form, OPF attempts to find the optimal power that the generators within the grid have to produce to satisfy a given demand. Optimality is measured with respect to the cost that each ge…
Graph Recurrent Neural Networks (GRNNs) are a neural network architecture devised to learn from graph processes, which are time sequences of graph signals. Similarly to traditional recurrent neural networks, GRNNs experience the problem of vanishing/exploding gradients when learning long term causal…
Graph neural networks (GNNs), consisting of a cascade of layers applying a graph convolution followed by a pointwise nonlinearity, have become a powerful architecture to process signals supported on graphs. Graph convolutions (and thus, GNNs), rely heavily on knowledge of the graph for operation. Ho…
Graph neural networks (GNNs) regularize classical neural networks by exploiting the underlying irregular structure supporting graph data, extending its application to broader data domains. The aggregation GNN presented here is a novel GNN that exploits the fact that the data collected at a single no…
Stability is a key aspect of data analysis. In many applications, the natural notion of stability is geometric, as illustrated for example in computer vision. Scattering transforms construct deep convolutional representations which are certified stable to input deformations. This stability to deform…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information and communications at test time by imitating the policy of ce
Graph neural networks (GNNs) have been shown to replicate convolutional neural networks' (CNNs) superior performance in many problems involving graphs. By replacing regular convolutions with linear shift-invariant graph filters (LSI-GFs), GNNs take into account the (irregular) structure of the graph…
Scattering transforms are non-trainable deep convolutional architectures that exploit the multi-scale resolution of a wavelet filter bank to obtain an appropriate representation of data. More importantly, they are proven invariant to translations, and stable to perturbations that are close to transl…
In this work, we jointly exploit tools from graph signal processing and control theory to drive a bandlimited graph signal that is being diffused on a random time-varying graph from a subset of nodes. As our main contribution, we rely only on the statistics of the graph to introduce the concept of c…
The ability to obtain accurate estimators from a set of measurements is a key factor in science and engineering. Typically, there is an inherent assumption that the measurements were taken in a sequential order, be it in space or time. However, data is increasingly irregular so this assumption of se…
We present a novel method to hierarchically cluster networked data allowing nodes to simultaneously belong to multiple clusters. Given a network, our method outputs a cut metric on the underlying node set, which can be related to data coverings at different resolutions. The cut metric is obtained by…