arXiv subjects

Shubhankar P. Patankar

Publications and source records attributed to Shubhankar P. Patankar.

6 recordsLinked to original sources

arXiv2026

Iterative Compositional Data Generation for Robot Control

Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-environment settings. While recent generative models can synthesize useful data for individual tasks, they do not exploit the compositional structure of robotic domains and struggle to generalize to unseen task combinations. We propose a semantic compositional diffusion transformer that factorizes transitions into robot-, object-, obstacle-, and objective-specific components and learns their interactions through attention. Once trained on a limited subset of tasks, we show that our model can zero-shot generate high-quality transitions from which we can learn control policies for unseen task combinations. Then, we introduce an iterative self-improvement procedure in which synthetic data is validated via offline reinforcement learning and incorporated into subsequent training rounds. Our approach substantially improves zero-shot performance over monolithic and hard-coded compositional baselines, ultimately solving nearly all held-out tasks and demonstrating the emergence of meaningful compositional structure in the learned representations.

cs.RO↗

arXiv2025

Mechanical prions: Self-assembling microstructures

Prions are misfolded proteins that transmit their structural arrangement to neighboring proteins. In biological systems, prion dynamics can produce a variety of complex functional outcomes. Yet, an understanding of prionic causes has been hampered by the fact that few computational models exist that allow for experimental design, hypothesis testing, and control. Here, we identify essential prionic properties and present a biologically inspired model of prions using simple mechanical structures capable of undergoing complex conformational change. We demonstrate the utility of our approach by designing a prototypical mechanical prion and validating its properties experimentally. Our work provides a design framework for harnessing and manipulating prionic properties in natural and artificial systems.

cond-mat.soft↗

arXiv2024

Citation Sentiment Reflects Multiscale Sociocultural Norms

Modern science is formally structured around scholarly publication, where scientific knowledge is canonized through citation. Precisely how citations are given and accrued can provide information about the value of discovery, the history of scientific ideas, the structure of fields, and the space or scope of inquiry. Yet parsing this information has been challenging because citations are not simply present or absent; rather, they differ in purpose, function, and sentiment. In this paper, we investigate how critical and favorable sentiments are distributed across citations, and demonstrate that citation sentiment tracks sociocultural norms across scales of collaboration, discipline, and country. At the smallest scale of individuals, we find that researchers cite scholars they have collaborated with more favorably (and less critically) than scholars they have not collaborated with. Outside collaborative relationships, higher h-index scholars cite lower h-index scholars more critically. At the mesoscale of disciplines, we find that wetlab disciplines tend to be less critical than drylab disciplines, and disciplines that engage in more synthesis through publishing more review articles tend to be less critical. At the largest scale of countries, we find that greater individualism (and lesser acceptance of the unequal distribution of power) is associated with more critical sentiment. Collectively, our results demonstrate how sociocultural factors can explain variations in sentiment in scientific communication. As such, our study contributes to a broader understanding of how human factors influence the practice of science, and underscores the importance of considering the larger sociocultural contexts in which science progresses.

cs.SI↗

arXiv2023

Intrinsically motivated graph exploration using network theories of human curiosity

Intrinsically motivated exploration has proven useful for reinforcement learning, even without additional extrinsic rewards. When the environment is naturally represented as a graph, how to guide exploration best remains an open question. In this work, we propose a novel approach for exploring graph-structured data motivated by two theories of human curiosity: the information gap theory and the compression progress theory. The theories view curiosity as an intrinsic motivation to optimize for topological features of subgraphs induced by nodes visited in the environment. We use these proposed features as rewards for graph neural-network-based reinforcement learning. On multiple classes of synthetically generated graphs, we find that trained agents generalize to longer exploratory walks and larger environments than are seen during training. Our method computes more efficiently than the greedy evaluation of the relevant topological properties. The proposed intrinsic motivations bear particular relevance for recommender systems. We demonstrate that next-node recommendations considering curiosity are more predictive of human choices than PageRank centrality in several real-world graph environments.

cs.LG↗

arXiv2022

Curiosity as filling, compressing, and reconfiguring knowledge networks

Due to the significant role that curiosity plays in our lives, several theoretical constructs, such as the information gap theory and compression progress theory, have sought to explain how we engage in its practice. According to the former, curiosity is the drive to acquire information that is missing from our understanding of the world. According to the latter, curiosity is the drive to construct an increasingly parsimonious mental model of the world. To complement the densification processes inherent to these theories, we propose the conformational change theory, wherein we posit that curiosity results in mental models with marked conceptual flexibility. We formalize curiosity as the process of building a growing knowledge network to quantitatively investigate information gap theory, compression progress theory, and the conformational change theory of curiosity. In knowledge networks, gaps can be identified as topological cavities, compression progress can be quantified using network compressibility, and flexibility can be measured as the number of conformational degrees of freedom. We leverage data acquired from the online encyclopedia Wikipedia to determine the degree to which each theory explains the growth of knowledge networks built by individuals and by collectives. Our findings lend support to a pluralistic view of curiosity, wherein intrinsically motivated information acquisition fills knowledge gaps and simultaneously leads to increasingly compressible and flexible knowledge networks. Across individuals and collectives, we determine the contexts in which each theoretical account may be explanatory, thereby clarifying their complementary and distinct explanations of curiosity. Our findings offer a novel network theoretical perspective on intrinsically motivated information acquisition that may harmonize with or compel an expansion of the traditional taxonomy of curiosity.

q-bio.NC↗

arXiv2020

Path-dependent connectivity, not modularity, consistently predicts controllability of structural brain networks

The human brain displays rich communication dynamics that are thought to be particularly well-reflected in its marked community structure. Yet, the precise relationship between community structure in structural brain networks and the communication dynamics that can emerge therefrom is not well-understood. In addition to offering insight into the structure-function relationship of networked systems, such an understanding is a critical step towards the ability to manipulate the brain's large-scale dynamical activity in a targeted manner. We investigate the role of community structure in the controllability of structural brain networks. At the region level, we find that certain network measures of community structure are sometimes statistically correlated with measures of linear controllability. However, we then demonstrate that this relationship depends on the distribution of network edge weights. We highlight the complexity of the relationship between community structure and controllability by performing numerical simulations using canonical graph models with varying mesoscale architectures and edge weight distributions. Finally, we demonstrate that weighted subgraph centrality, a measure rooted in the graph spectrum, and which captures higher-order graph architecture, is a stronger and more consistent predictor of controllability. Our study contributes to an understanding of how the brain's diverse mesoscale structure supports transient communication dynamics.

q-bio.NC↗