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Dan P. Guralnik

Publications and source records attributed to Dan P. Guralnik.

13 recordsLinked to original sources

Effective Model Pruning: Measure The Redundancy of Model Components

This article initiates the study of a basic question about model pruning. Given a vector $s$ of importance scores assigned to model components, how many of the scored components could be discarded without sacrificing performance? We propose Effective Model Pruning (EMP), which derives the desired sparsity directly from the score distribution using the notion of effective sample size from particle filtering, also known as the inverse Simpson index. Rather than prescribe a pruning criterion, EMP supplies a universal adaptive threshold derived from the distribution of the score $s$ over the model components: EMP maps $s$ to a number $N_{eff}=N_{eff}(s)$, called the effective sample size. The $N-N_{eff}$ lowest scoring components are discarded. A tight lower bound on the effective mass $s_{eff}$ (the sum of retained normalized scores) in terms of $N_{eff}$ is derived. This process yields models with a provable upper bound on the loss change relative to the original dense model. Numerical experiments are performed demonstrating this phenomenon across a variety of network architectures including MLPs, CNNs, Transformers, LLMs, and KAN. It is also shown that EMP addresses a rich set of pruning criteria such as weight magnitude, attention score, KAN importance score, and even feature-level signals such as image pixels.

cs.LG

Goal inference with Rao-Blackwellized Particle Filters

Inferring the eventual goal of a mobile agent from noisy observations of its trajectory is a fundamental estimation problem. We initiate the study of such intent inference using a variant of a Rao-Blackwellized Particle Filter (RBPF), subject to the assumption that the agent's intent manifests through closed-loop behavior with a state-of-the-art provable practical stability property. Leveraging the assumed closed-form agent dynamics, the RBPF analytically marginalizes the linear-Gaussian substructure and updates particle weights only, improving sample efficiency over a standard particle filter. Two difference estimators are introduced: a Gaussian mixture model using the RBPF weights and a reduced version confining the mixture to the effective sample. We quantify how well the adversary can recover the agent's intent using information-theoretic leakage metrics and provide computable lower bounds on the Kullback-Leibler (KL) divergence between the true intent distribution and RBPF estimates via Gaussian-mixture KL bounds. We also provide a bound on the difference in performance between the two estimators, highlighting the fact that the reduced estimator performs almost as well as the complete one. Experiments illustrate fast and accurate intent recovery for compliant agents, motivating future work on designing intent-obfuscating controllers.

cs.LG

Extendable shellability for $d$-dimensional complexes on $d+3$ vertices

We prove that for all $d \geq 1$ a shellable $d$-dimensional simplicial complex with at most $d+3$ vertices is extendably shellable. The proof involves considering the structure of `exposed' edges in chordal graphs as well as a connection to linear quotients of quadratic monomial ideals.

math.CO

Iterated Belief Revision Under Resource Constraints: Logic as Geometry

We propose a variant of iterated belief revision designed for settings with limited computational resources, such as mobile autonomous robots. The proposed memory architecture---called the {\em universal memory architecture} (UMA)---maintains an epistemic state in the form of a system of default rules similar to those studied by Pearl and by Goldszmidt and Pearl (systems $Z$ and $Z^+$). A duality between the category of UMA representations and the category of the corresponding model spaces, extending the Sageev-Roller duality between discrete poc sets and discrete median algebras provides a two-way dictionary from inference to geometry, leading to immense savings in computation, at a cost in the quality of representation that can be quantified in terms of topological invariants. Moreover, the same framework naturally enables comparisons between different model spaces, making it possible to analyze the deficiencies of one model space in comparison to others. This paper develops the formalism underlying UMA, analyzes the complexity of maintenance and inference operations in UMA, and presents some learning guarantees for different UMA-based learners. Finally, we present simulation results to illustrate the viability of the approach, and close with a discussion of the strengths, weaknesses, and potential development of UMA-based learners.

cs.AI

Injective metrizability and the duality theory of cubings

Following his discovery that finite metric spaces have injective envelopes naturally admitting a polyhedral structure, Isbell, in his pioneering work on injective metric spaces, attempted a characterization of cellular complexes admitting the structure of an injective metric space. A bit later, Mai and Tang confirmed Isbell's conjecture that a simplicial complex is injectively metrizable if and only if it is collapsible. Considerable advances in the understanding, classification and applications of injective envelopes have since been made by Dress, Huber, Sturmfels and collaborators, and most recently by Lang. Unfortunately a combination theory for injective polyhedra is still unavailable. Here we expose a connection to the duality theory of cubings -- simply connected non-positively curved cubical complexes -- which provides a more principled and accessible approach to Mai and Tang's result, providing one with a powerful tool for systematic construction of locally-compact injective metric spaces: Main Theorem. Any complete pointed Gromov--Hausdorff limit of locally-finite piecewise-$\ell_\infty$ cubings is injective. This result may be construed as a combination theorem for the simplest injective polytopes, $\ell_\infty$-parallelopipeds, where the condition for retaining injectivity is the combinatorial non-positive curvature condition on the complex. Thus it represents a first step towards a more comprehensive combination theory for injective spaces. In addition to setting the earlier work on injectively metrizable complexes within its proper context of non-positively curved geometry, this paper is meant to provide the reader with a systematic review of the results~ ---~ otherwise scattered throughout the geometric group theory literature~ ---~ on the duality theory and the geometry of cubings, which make this connection possible.

math.MG

Edge Erasures and Chordal Graphs

We prove several results about chordal graphs and weighted chordal graphs by focusing on exposed edges. These are edges that are properly contained in a single maximal complete subgraph. This leads to a characterization of chordal graphs via deletions of a sequence of exposed edges from a complete graph. Most interesting is that in this context the connected components of the edge-induced subgraph of exposed edges are 2-edge connected. We use this latter fact in the weighted case to give a modified version of Kruskal's second algorithm for finding a minimum spanning tree in a weighted chordal graph. This modified algorithm benefits from being local in an important sense.

math.CO

Functorial Hierarchical Clustering with Overlaps

This work draws inspiration from three important sources of research on dissimilarity-based clustering and intertwines those three threads into a consistent principled functorial theory of clustering. Those three are the overlapping clustering of Jardine and Sibson, the functorial approach of Carlsson and Mémoli to partition-based clustering, and the Isbell/Dress school's study of injective envelopes. Carlsson and Mémoli introduce the idea of viewing clustering methods as functors from a category of metric spaces to a category of clusters, with functoriality subsuming many desirable properties. Our first series of results extends their theory of functorial clustering schemes to methods that allow overlapping clusters in the spirit of Jardine and Sibson. This obviates some of the unpleasant effects of chaining that occur, for example with single-linkage clustering. We prove an equivalence between these general overlapping clustering functors and projections of weight spaces to what we term clustering domains, by focusing on the order structure determined by the morphisms. As a specific application of this machinery, we are able to prove that there are no functorial projections to cut metrics, or even to tree metrics. Finally, although we focus less on the construction of clustering methods (clustering domains) derived from injective envelopes, we lay out some preliminary results, that hopefully will give a feel for how the third leg of the stool comes into play.

cs.LG

Statistical Properties of the Single Linkage Hierarchical Clustering Estimator

Distance-based hierarchical clustering (HC) methods are widely used in unsupervised data analysis but few authors take account of uncertainty in the distance data. We incorporate a statistical model of the uncertainty through corruption or noise in the pairwise distances and investigate the problem of estimating the HC as unknown parameters from measurements. Specifically, we focus on single linkage hierarchical clustering (SLHC) and study its geometry. We prove that under fairly reasonable conditions on the probability distribution governing measurements, SLHC is equivalent to maximum partial profile likelihood estimation (MPPLE) with some of the information contained in the data ignored. At the same time, we show that direct evaluation of SLHC on maximum likelihood estimation (MLE) of pairwise distances yields a consistent estimator. Consequently, a full MLE is expected to perform better than SLHC in getting the correct HC results for the ground truth metric.

stat.ML

Consistency constraints for overlapping data clustering

We examine overlapping clustering schemes with functorial constraints, in the spirit of Carlsson--Memoli. This avoids issues arising from the chaining required by partition-based methods. Our principal result shows that any clustering functor is naturally constrained to refine single-linkage clusters and be refined by maximal-linkage clusters. We work in the context of metric spaces with non-expansive maps, which is appropriate for modeling data processing which does not increase information content.

cs.LG

Maximum Likelihood Estimation for Single Linkage Hierarchical Clustering

We derive a statistical model for estimation of a dendrogram from single linkage hierarchical clustering (SLHC) that takes account of uncertainty through noise or corruption in the measurements of separation of data. Our focus is on just the estimation of the hierarchy of partitions afforded by the dendrogram, rather than the heights in the latter. The concept of estimating this "dendrogram structure'' is introduced, and an approximate maximum likelihood estimator (MLE) for the dendrogram structure is described. These ideas are illustrated by a simple Monte Carlo simulation that, at least for small data sets, suggests the method outperforms SLHC in the presence of noise.

stat.ML

Discriminative Measures for Comparison of Phylogenetic Trees

In this paper we introduce and study three new measures for efficient discriminative comparison of phylogenetic trees. The NNI navigation dissimilarity $d_{nav}$ counts the steps along a "combing" of the Nearest Neighbor Interchange (NNI) graph of binary hierarchies, providing an efficient approximation to the (NP-hard) NNI distance in terms of "edit length". At the same time, a closed form formula for $d_{nav}$ presents it as a weighted count of pairwise incompatibilities between clusters, lending it the character of an edge dissimilarity measure as well. A relaxation of this formula to a simple count yields another measure on all trees --- the crossing dissimilarity $d_{CM}$. Both dissimilarities are symmetric and positive definite (vanish only between identical trees) on binary hierarchies but they fail to satisfy the triangle inequality. Nevertheless, both are bounded below by the widely used Robinson-Foulds metric and bounded above by a closely related true metric, the cluster-cardinality metric $d_{CC}$. We show that each of the three proposed new dissimilarities is computable in time $O(n^2)$ in the number of leaves $n$, and conclude the paper with a brief numerical exploration of the distribution over tree space of these dissimilarities in comparison with the Robinson-Foulds metric and the more recently introduced matching-split distance.

q-bio.PE

Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.

cs.RO

Universal Memory Architectures for Autonomous Machines

We propose a self-organizing memory architecture for perceptual experience, capable of supporting autonomous learning and goal-directed problem solving in the absence of any prior information about the agent's environment. The architecture is simple enough to ensure (1) a quadratic bound (in the number of available sensors) on space requirements, and (2) a quadratic bound on the time-complexity of the update-execute cycle. At the same time, it is sufficiently complex to provide the agent with an internal representation which is (3) minimal among all representations of its class which account for every sensory equivalence class subject to the agent's belief state; (4) capable, in principle, of recovering the homotopy type of the system's state space; (5) learnable with arbitrary precision through a random application of the available actions. The provable properties of an effectively trained memory structure exploit a duality between weak poc sets -- a symbolic (discrete) representation of subset nesting relations -- and non-positively curved cubical complexes, whose rich convexity theory underlies the planning cycle of the proposed architecture.

cs.AI