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We study the variance of stochastic policy gradients (SPGs) with many action samples per state. We derive a many-actions optimality condition, which determines when many-actions SPG yields lower variance as compared to a single-action agent with proportionally extended trajectory. We propose Model-Based Many-Actions (MBMA), an approach leveraging dynamics models for many-actions sampling in the context of SPG. MBMA addresses issues associated with existing implementations of many-actions SPG and yields lower bias and comparable variance to SPG estimated from states in model-simulated rollouts. We find that MBMA bias and variance structure matches that predicted by theory. As a result, MBMA achieves improved sample efficiency and higher returns on a range of continuous action environments as compared to model-free, many-actions, and model-based on-policy SPG baselines., Comment: ICML 2023

We present n-CPS - a generalisation of the recent state-of-the-art cross pseudo supervision (CPS) approach for the task of semi-supervised semantic segmentation. In n-CPS, there are n simultaneously trained subnetworks that learn from each other through one-hot encoding perturbation and consistency regularisation. We also show that ensembling techniques applied to subnetworks outputs can significantly improve the performance. To the best of our knowledge, n-CPS paired with CutMix outperforms CPS and sets the new state-of-the-art for Pascal VOC 2012 with (1/16, 1/8, 1/4, and 1/2 supervised regimes) and Cityscapes (1/16 supervised).

We show that Set Cover on instances with $N$ elements cannot be approximated within $(1-\gamma)\ln N$-factor in time exp($N^{\gamma-\delta})$, for any $0 < \gamma < 1$ and any $\delta > 0$, assuming the Exponential Time Hypothesis. This essentially matches the best upper bound known by Cygan et al.\ (IPL, 2009) of $(1-\gamma)\ln N$-factor in time $exp(O(N^\gamma))$. The lower bound is obtained by extracting a standalone reduction from Label Cover to Set Cover from the work of Moshkovitz (Theory of Computing, 2015), and applying it to a different PCP theorem than done there. We also obtain a tighter lower bound when conditioning on the Projection Games Conjecture. We also treat three problems (Directed Steiner Tree, Submodular Cover, and Connected Polymatroid) that strictly generalize Set Cover. We give a $(1-\gamma)\ln N$-approximation algorithm for these problems that runs in $exp(\tilde{O}(N^\gamma))$ time, for any $1/2 \le \gamma < 1$.

In this paper we study three previously unstudied variants of the online Facility Location problem, considering an intrinsic scenario when the clients and facilities are not only allowed to arrive to the system, but they can also depart at any moment. We begin with the study of a natural fully-dynamic online uncapacitated model where clients can be both added and removed. When a client arrives, then it has to be assigned either to an existing facility or to a new facility opened at the client's location. However, when a client who has been also one of the open facilities is to be removed, then our model has to allow to reconnect all clients that have been connected to that removed facility. In this model, we present an optimal O(log n_act / log log n_act)-competitive algorithm, where n_act is the number of active clients at the end of the input sequence. Next, we turn our attention to the capacitated Facility Location problem. We first note that if no deletions are allowed, then one can achieve an optimal competitive ratio of O(log n/ log log n), where n is the length of the sequence. However, when deletions are allowed, the capacitated version of the problem is significantly more challenging than the uncapacitated one. We show that still, using a more sophisticated algorithmic approach, one can obtain an online O(log m + log c log n)-competitive algorithm for the capacitated Facility Location problem in the fully dynamic model, where m is number of points in the input metric and c is the capacity of any open facility., Comment: full version of ESA'18 submission

Recent developments in the field of robot grasping have shown great improvements in the grasp success rates when dealing with unknown objects. In this work we improve on one of the most promising approaches, the Grasp Quality Convolutional Neural Network (GQ-CNN) trained on the DexNet 2.0 dataset. We propose a new architecture for the GQ-CNN and describe practical improvements that increase the model validation accuracy from 92.2% to 95.8% and from 85.9% to 88.0% on respectively image-wise and object-wise training and validation splits., Comment: 6 pages, 3 figures

Given a traveling salesman problem (TSP) tour $H$ in graph $G$ a $k$-move is an operation which removes $k$ edges from $H$, and adds $k$ edges of $G$ so that a new tour $H'$ is formed. The popular $k$-OPT heuristics for TSP finds a local optimum by starting from an arbitrary tour $H$ and then improving it by a sequence of $k$-moves. Until 2016, the only known algorithm to find an improving $k$-move for a given tour was the naive solution in time $O(n^k)$. At ICALP'16 de Berg, Buchin, Jansen and Woeginger showed an $O(n^{\lfloor 2/3k \rfloor+1})$-time algorithm. We show an algorithm which runs in $O(n^{(1/4+\epsilon_k)k})$ time, where $\lim \epsilon_k = 0$. We are able to show that it improves over the state of the art for every $k=5,\ldots,10$. For the most practically relevant case $k=5$ we provide a slightly refined algorithm running in $O(n^{3.4})$ time. We also show that for the $k=4$ case, improving over the $O(n^3)$-time algorithm of de Berg et al. would be a major breakthrough: an $O(n^{3-\epsilon})$-time algorithm for any $\epsilon>0$ would imply an $O(n^{3-\delta})$-time algorithm for the ALL PAIRS SHORTEST PATHS problem, for some $\delta>0$., Comment: Accepted to ESA'17

Subgraph Isomorphism is a very basic graph problem, where given two graphs $G$ and $H$ one is to check whether $G$ is a subgraph of $H$. Despite its simple definition, the Subgraph Isomorphism problem turns out to be very broad, as it generalizes problems such as Clique, $r$-Coloring, Hamiltonicity, Set Packing and Bandwidth. However, for all of the mentioned problems $2^{\mathcal{O}(n)}$ time algorithms exist, so a natural and frequently asked question in the past was whether there exists a $2^{\mathcal{O}(n)}$ time algorithm for Subgraph Isomorphism. In the monograph of Fomin and Kratsch [Springer'10] this question is highlighted as an open problem, among few others. Our main result is a reduction from 3-SAT, producing a subexponential number of sublinear instances of the Subgraph Isomorphism problem. In particular, our reduction implies a $2^{\Omega(n \sqrt{\log n})}$ lower bound for Subgraph Isomorphism under the Exponential Time Hypothesis. This shows that there exist classes of graphs that are strictly harder to embed than cliques or Hamiltonian cycles. The core of our reduction consists of two steps. First, we preprocess and pack variables and clauses of a 3-SAT formula into groups of logarithmic size. However, the grouping is not arbitrary, since as a result we obtain only a limited interaction between the groups. In the second step, we overcome the technical hardness of encoding evaluations as permutations by a simple, yet fruitful scheme of guessing the sizes of preimages of an arbitrary mapping, reducing the case of arbitrary mapping to bijections. In fact, when applying this step to a recent independent result of Fomin et al.[arXiv:1502.05447 (2015)], who showed hardness of Graph Homomorphism, we can transfer their hardness result to Subgraph Isomorphism, implying a nearly tight lower bound of $2^{\Omega(n \log n / \log \log n)}$.

The $k$-center problem is a classic facility location problem, where given an edge-weighted graph $G = (V,E)$ one is to find a subset of $k$ vertices $S$, such that each vertex in $V$ is "close" to some vertex in $S$. The approximation status of this basic problem is well understood, as a simple 2-approximation algorithm is known to be tight. Consequently different extensions were studied. In the capacitated version of the problem each vertex is assigned a capacity, which is a strict upper bound on the number of clients a facility can serve, when located at this vertex. A constant factor approximation for the capacitated $k$-center was obtained last year by Cygan, Hajiaghayi and Khuller [FOCS'12], which was recently improved to a 9-approximation by An, Bhaskara and Svensson [arXiv'13]. In a different generalization of the problem some clients (denoted as outliers) may be disregarded. Here we are additionally given an integer $p$ and the goal is to serve exactly $p$ clients, which the algorithm is free to choose. In 2001 Charikar et al. [SODA'01] presented a 3-approximation for the $k$-center problem with outliers. In this paper we consider a common generalization of the two extensions previously studied separately, i.e. we work with the capacitated $k$-center with outliers. We present the first constant factor approximation algorithm with approximation ratio of 25 even for the case of non-uniform hard capacities., Comment: 15 pages, 3 figures, accepted to STACS 2014

In the first part of this work we study the following question: Given two k-colorings α and β of a graph G on n vertices and an integer ℓ, can α be modified into β by recoloring vertices one at a time, while maintaining a k-coloring throughout and using at most ℓ such recoloring steps? This problem is weakly PSPACE-hard for every constant k≥4. We show that the problem is also strongly NP-hard for every constant k≥4 and W[1]-hard (but in XP) when parameterized only by ℓ. On the positive side, we show that the problem is fixed-parameter tractable when parameterized by k+ℓ. In fact, we show that the more general problem of ℓ-length bounded reconfiguration of constraint satisfaction problems (CSPs) is fixed-parameter tractable parameterized by k+ℓ+r, where r is the maximum constraint arity and k is the maximum domain size. We show that for parameter ℓ, the latter problem is W[2]-hard, even for k=2. Finally, if p denotes the number of variables with different values in the two given assignments, we show that the problem is W[2]-hard when parameterized by ℓ−p, even for k=2 and r=3 .

In the family of clustering problems, we are given a set of objects (vertices of the graph), together with some observed pairwise similarities (edges). The goal is to identify clusters of similar objects by slightly modifying the graph to obtain a cluster graph (disjoint union of cliques). Hueffner et al. [Theory Comput. Syst. 2010] initiated the parameterized study of Cluster Vertex Deletion, where the allowed modification is vertex deletion, and presented an elegant O(2^k * k^9 + n * m)-time fixed-parameter algorithm, parameterized by the solution size. In our work, we pick up this line of research and present an O(1.9102^k * (n + m))-time branching algorithm.

In this paper we provide algorithms faster than O*(2^n) for several NP-complete domination-type problems. More precisely, we provide: an algorithm for CAPACITATED DOMINATING SET that solves it in O(1.89^n), a branch-and-reduce algorithm solving LARGEST IRREDUNDANT SET in O(1.9657^n) time and a simple iterative-DFS algorithm for SMALLEST INCLUSION-MAXIMAL IRREDUNDANT SET that solves it in O(1.999956^n) time. We also provide an exponential approximation scheme for CAPACITATED DOMINATING SET. All algorithms require polynomial space. Despite the fact that the discussed problems are quite similar to the DOMINATING SET problem, we are not aware of any published algorithms solving these problems faster than the obvious O*(2^n) solution prior to this paper., Comment: Submitted to STACS 2010

The \(k\)-colouring reconfiguration problem asks whether, for a given graph \(G\), two proper \(k\)-colourings \(\alpha \) and \(\beta \) of \(G\), and a positive integer \(\ell \), there exists a sequence of at most \(\ell \) proper \(k\)-colourings of \(G\) which starts with \(\alpha \) and ends with \(\beta \) and where successive colourings in the sequence differ on exactly one vertex of \(G\). We give a complete picture of the parameterized complexity of the \(k\)-colouring reconfiguration problem for each fixed \(k\) when parameterized by \(\ell \). First we show that the \(k\)-colouring reconfiguration problem is polynomial-time solvable for \(k=3\), settling an open problem of Cereceda, van den Heuvel and Johnson. Then, for all \(k \ge 4\), we show that the \(k\)-colouring reconfiguration problem, when parameterized by \(\ell \), is fixed-parameter tractable (addressing a question of Mouawad, Nishimura, Raman, Simjour and Suzuki) but that it has no polynomial kernel unless the polynomial hierarchy collapses.