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Robert Gray

Publications and source records attributed to Robert Gray.

At least 37 records · Page 2Linked to original sources
arXiv2020

Generative Model-Enhanced Human Motion Prediction

The task of predicting human motion is complicated by the natural heterogeneity and compositionality of actions, necessitating robustness to distributional shifts as far as out-of-distribution (OoD). Here we formulate a new OoD benchmark based on the Human3.6M and CMU motion capture datasets, and introduce a hybrid framework for hardening discriminative architectures to OoD failure by augmenting them with a generative model. When applied to current state-of-the-art discriminative models, we show that the proposed approach improves OoD robustness without sacrificing in-distribution performance, and can theoretically facilitate model interpretability. We suggest human motion predictors ought to be constructed with OoD challenges in mind, and provide an extensible general framework for hardening diverse discriminative architectures to extreme distributional shift. The code is available at https://github.com/bouracha/OoDMotion.

cs.CV↗
arXiv2019

Bayesian Volumetric Autoregressive generative models for better semisupervised learning

Deep generative models are rapidly gaining traction in medical imaging. Nonetheless, most generative architectures struggle to capture the underlying probability distributions of volumetric data, exhibit convergence problems, and offer no robust indices of model uncertainty. By comparison, the autoregressive generative model PixelCNN can be extended to volumetric data with relative ease, it readily attempts to learn the true underlying probability distribution and it still admits a Bayesian reformulation that provides a principled framework for reasoning about model uncertainty. Our contributions in this paper are two fold: first, we extend PixelCNN to work with volumetric brain magnetic resonance imaging data. Second, we show that reformulating this model to approximate a deep Gaussian process yields a measure of uncertainty that improves the performance of semi-supervised learning, in particular classification performance in settings where the proportion of labelled data is low. We quantify this improvement across classification, regression, and semantic segmentation tasks, training and testing on clinical magnetic resonance brain imaging data comprising T1-weighted and diffusion-weighted sequences.

cs.LG↗
arXiv2017

NiftyNet: a deep-learning platform for medical imaging

Medical image analysis and computer-assisted intervention problems are increasingly being addressed with deep-learning-based solutions. Established deep-learning platforms are flexible but do not provide specific functionality for medical image analysis and adapting them for this application requires substantial implementation effort. Thus, there has been substantial duplication of effort and incompatible infrastructure developed across many research groups. This work presents the open-source NiftyNet platform for deep learning in medical imaging. The ambition of NiftyNet is to accelerate and simplify the development of these solutions, and to provide a common mechanism for disseminating research outputs for the community to use, adapt and build upon. NiftyNet provides a modular deep-learning pipeline for a range of medical imaging applications including segmentation, regression, image generation and representation learning applications. Components of the NiftyNet pipeline including data loading, data augmentation, network architectures, loss functions and evaluation metrics are tailored to, and take advantage of, the idiosyncracies of medical image analysis and computer-assisted intervention. NiftyNet is built on TensorFlow and supports TensorBoard visualization of 2D and 3D images and computational graphs by default. We present 3 illustrative medical image analysis applications built using NiftyNet: (1) segmentation of multiple abdominal organs from computed tomography; (2) image regression to predict computed tomography attenuation maps from brain magnetic resonance images; and (3) generation of simulated ultrasound images for specified anatomical poses. NiftyNet enables researchers to rapidly develop and distribute deep learning solutions for segmentation, regression, image generation and representation learning applications, or extend the platform to new applications.

cs.CV↗
arXiv2017

On finite complete rewriting systems, finite derivation type, and automaticity for homogeneous monoids

This paper investigates the class of finitely presented monoids defined by homogeneous (length-preserving) relations from a computational perspective. The properties of admitting a finite complete rewriting system, having finite derivation type, being automatic, and being biautomatic are investigated for this class of monoids. The first main result shows that for any consistent combination of these properties and their negations, there is a homogeneous monoid with exactly this combination of properties. We then introduce the new concept of abstract Rees-commensurability (an analogue of the notion of abstract commensurability for groups) in order to extend this result to show that the same statement holds even if one restricts attention to the class of $n$-ary homogeneous monoids (where every side of every relation has fixed length $n$). We then introduce a new encoding technique that allows us to extend the result partially to the class of $n$-ary multihomogenous monoids.

math.GR↗
arXiv2016

Diagram monoids and Graham-Houghton graphs: idempotents and generating sets of ideals

We study the ideals of the partition, Brauer, and Jones monoid, establishing various combinatorial results on generating sets and idempotent generating sets via an analysis of their Graham--Houghton graphs. We show that each proper ideal of the partition monoid P_n is an idempotent generated semigroup, and obtain a formula for the minimal number of elements (and the minimal number of idempotent elements) needed to generate these semigroups. In particular, we show that these two numbers, which are called the rank and idempotent rank (respectively) of the semigroup, are equal to each other, and we characterize the generating sets of this minimal cardinality. We also characterize and enumerate the minimal idempotent generating sets for the largest proper ideal of P_n, which coincides with the singular part of P_n. Analogous results are proved for the ideals of the Brauer and Jones monoids; in each case, the rank and idempotent rank turn out to be equal, and all the minimal generating sets are described. We also show how the rank and idempotent rank results obtained, when applied to the corresponding twisted semigroup algebras (the partition, Brauer, and Temperley--Lieb algebras), allow one to recover formulae for the dimensions of their cell modules (viewed as cellular algebras) which, in the semisimple case, are formulae for the dimensions of the irreducible representations of the algebras. As well as being of algebraic interest, our results relate to several well-studied topics in graph theory including the problem of counting perfect matchings (which relates to the problem of computing permanents of {0,1}-matrices and the theory of Pfaffian orientations), and the problem of finding factorizations of Johnson graphs. Our results also bring together several well-known number sequences such as Stirling, Bell, Catalan and Fibonacci numbers.

math.GR↗
arXiv2014

A strong geometric hyperbolicity property for directed graphs and monoids

We introduce and study a strong "thin triangle"' condition for directed graphs, which generalises the usual notion of hyperbolicity for a metric space. We prove that finitely generated left cancellative monoids whose right Cayley graphs satisfy this condition must be finitely presented with polynomial Dehn functions, and hence word problems in NP. Under the additional assumption of right cancellativity (or in some cases the weaker condition of bounded indegree), they also admit algorithms for more fundamentally semigroup-theoretic decision problems such as Green's relations L, R, J, D and the corresponding pre-orders. In contrast, we exhibit a right cancellative (but not left cancellative) finitely generated monoid (in fact, an infinite class of them) whose Cayley graph is a essentially a tree (hence hyperbolic in our sense and probably any reasonable sense), but which is not even recursively presentable. This seems to be strong evidence that no geometric notion of hyperbolicity will be strong enough to yield much information about finitely generated monoids in absolute generality.

math.GR↗
arXiv2014

Homotopy bases and finite derivation type for subgroups of monoids

Given a monoid defined by a presentation, and a homotopy base for the derivation graph associated to the presentation, and given an arbitrary subgroup of the monoid, we give a homotopy base (and presentation) for the subgroup. If the monoid has finite derivation type (FDT), and if under the action of the monoid on its subsets by right multiplication the strong orbit of the subgroup is finite, then we obtain a finite homotopy base for the subgroup, and hence the subgroup has FDT. As an application we prove that a regular monoid with finitely many left and right ideals has FDT if and only if all of its maximal subgroups have FDT. We use this to show that a finitely presented regular monoid with finitely many left and right ideals satisfies the homological finiteness condition FP_3 if all of its maximal subgroups satisfy the condition FP_3.

math.GR↗
arXiv2014

On Residual Finiteness of Monoids, their Schutzenberger Groups and Associated Actions

In this paper we discuss connections between the following properties: (RFM) residual finiteness of a monoid M; (RFSG) residual finiteness of Schutzenberger groups of M; and (RFRL) residual finiteness of the natural actions of M on its Green's R- and L-classes. The general question is whether (RFM) implies (RFSG) and/or (RFRL), and vice versa. We consider these questions in all the possible combinations of the following situations: M is an arbitrary monoid; M is an arbitrary regular monoid; every J-class of M has finitely many R- and L-classes; M has finitely many left and right ideals. In each case we obtain complete answers.

math.GR↗
arXiv2011

Homotopy bases and finite derivation type for Schutzenberger groups of monoids

Given a finitely presented monoid and a homotopy base for the monoid, and given an arbitrary Schutzenberger group of the monoid, the main result of this paper gives a homotopy base, and presentation, for the Schutzenberger group. In the case that the R-class R' of the Schutzenberger group G(H) has only finitely many H-classes, and there is an element s of the multiplicative right pointwise stabilizer of H, such that under the left action of the monoid on its R-classes the intersection of the orbit of the R-class of s with the inverse orbit of R' is finite, then finiteness of the presentation and of the homotopy base is preserved.

math.GR↗
arXiv2011

On Maximal Subgroups of Free Idempotent Generated Semigroups

We prove the following results: (1) Every group is a maximal subgroup of some free idempotent generated semigroup. (2) Every finitely presented group is a maximal subgroup of some free idempotent generated semigroup arising from a finite semigroup. (3) Every group is a maximal subgroup of some free regular idempotent generated semigroup. (4) Every finite group is a maximal subgroup of some free regular idempotent generated semigroup arising from a finite regular semigroup.

math.GR↗
arXiv2011

Maximal subgroups of free idempotent generated semigroups over the full transformation monoid

Let T_n be the full transformation semigroup of all mappings from the set {1,...,n} to itself under composition. Let E = E(T_n) denote the set of idempotents of T_n and let e be an arbitrary idempotent satisfying |im(e)|=r < n-1. We prove that the maximal subgroup of the free idempotent generated semigroup over E containing e is isomorphic to the symmetric group S_r.

math.GR↗
arXiv2010

On properties not inherited by monoids from their Schutzenberger groups

We give an example of a monoid with finitely many left and right ideals, all of whose Schutzenberger groups are presentable by finite complete rewriting systems, and so each have finite derivation type, but such that the monoid itself does not have finite derivation type, and therefore does not admit a presentation by a finite complete rewriting system. The example also serves as a counterexample to several other natural questions regarding complete rewriting systems and finite derivation type. Specifically it allows us to construct two finitely generated monoids M and N with isometric Cayley graphs, where N has finite derivation type (respectively, admits a presentation by a finite complete rewriting system) but M does not. This contrasts with the case of finitely generated groups for which finite derivation type is known to be a quasi-isometry invariant. The same example is also used to show that neither of these two properties is preserved under finite Green index extensions.

math.GR↗
arXiv2010

Locally-finite connected-homogeneous digraphs

A digraph is connected-homogeneous if any isomorphism between finite connected induced subdigraphs extends to an automorphism of the digraph. We consider locally-finite connected-homogeneous digraphs with more than one end. In the case that the digraph embeds a triangle we give a complete classification, obtaining a family of tree-like graphs constructed by gluing together directed triangles. In the triangle-free case we show that these digraphs are highly arc-transitive. We give a classification in the two-ended case, showing that all examples arise from a simple construction given by gluing along a directed line copies of some fixed finite directed complete bipartite graph. When the digraph has infinitely many ends we show that the descendants of a vertex form a tree, and the reachability graph (which is one of the basic building blocks of the digraph) is one of: an even cycle, a complete bipartite graph, the complement of a perfect matching, or an infinite semiregular tree. We give examples showing that each of these possibilities is realised as the reachability graph of some connected-homogeneous digraph, and in the process we obtain a new family of highly arc-transitive digraphs without property Z.

math.CO↗
arXiv2010

Set-homogeneous directed graphs

A directed graph is set-homogeneous if, whenever U and V are isomorphic finite subdigraphs, there is an automorphism g of the digraph with U^g=V. Here, extending work of Lachlan on finite homogeneous digraphs, we classify finite set-homogeneous digraphs, where we allow some pairs of vertices to have arcs in both directions. Under the assumption that such pairs of vertices are not allowed, we obtain initial results on countably infinite set-homogeneous digraphs, classifying those which are not 2-homogeneous.

math.CO↗
arXiv2010

Finite complete rewriting systems for regular semigroups

It is proved that, given a (von Neumann) regular semigroup with finitely many left and right ideals, if every maximal subgroup is presentable by a finite complete rewriting system, then so is the semigroup. To achieve this, the following two results are proved: the property of being defined by a finite complete rewriting system is preserved when taking an ideal extension by a semigroup defined by a finite complete rewriting system; a completely 0-simple semigroup with finitely many left and right ideals admits a presentation by a finite complete rewriting system provided all of its maximal subgroups do.

math.GR↗
arXiv2010

A Svarc-Milnor lemma for monoids acting by isometric embeddings

We continue our programme of extending key techniques from geometric group theory to semigroup theory, by studying monoids acting by isometric embeddings on spaces equipped with asymmetric, partially-defined distance functions. The canonical example of such an action is a cancellative monoid acting by translation on its Cayley graph. Our main result is an extension of the Svarc-Milnor Lemma to this setting.

math.GR↗
arXiv2010

Homological finiteness properties of monoids, their ideals and maximal subgroups

We consider the general question of how the homological finiteness property left-FPn holding in a monoid influences, and conversely depends on, the property holding in the substructures of that monoid. In particular we show that left-FPn is inherited by the maximal subgroups in a completely simple minimal ideal, in the case that the minimal ideal has finitely many left ideals. For completely simple semigroups we prove the converse, and as a corollary show that a completely simple semigroup is of type left- and right-FPn if and only if it has finitely many left and right ideals and all of its maximal subgroups are of type FPn. Also, given an ideal of a monoid, we show that if the ideal has a two-sided identity element then the containing monoid is of type left-FPn if and only if the ideal is of type left-FPn.

math.GR↗