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Jeffrey Yu

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2 papers
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2

NeurIPS Conference 2023 Conference Paper

GSLB: The Graph Structure Learning Benchmark

  • Zhixun Li
  • Xin Sun
  • Yifan Luo
  • Yanqiao Zhu
  • Dingshuo Chen
  • Yingtao Luo
  • Xiangxin Zhou
  • Qiang Liu

Graph Structure Learning (GSL) has recently garnered considerable attention due to its ability to optimize both the parameters of Graph Neural Networks (GNNs) and the computation graph structure simultaneously. Despite the proliferation of GSL methods developed in recent years, there is no standard experimental setting or fair comparison for performance evaluation, which creates a great obstacle to understanding the progress in this field. To fill this gap, we systematically analyze the performance of GSL in different scenarios and develop a comprehensive Graph Structure Learning Benchmark (GSLB) curated from 20 diverse graph datasets and 16 distinct GSL algorithms. Specifically, GSLB systematically investigates the characteristics of GSL in terms of three dimensions: effectiveness, robustness, and complexity. We comprehensively evaluate state-of-the-art GSL algorithms in node- and graph-level tasks, and analyze their performance in robust learning and model complexity. Further, to facilitate reproducible research, we have developed an easy-to-use library for training, evaluating, and visualizing different GSL methods. Empirical results of our extensive experiments demonstrate the ability of GSL and reveal its potential benefits on various downstream tasks, offering insights and opportunities for future research. The code of GSLB is available at: https: //github. com/GSL-Benchmark/GSLB.

IROS Conference 2018 Conference Paper

Energetic Efficiency of a Compositional Controller on a Monoped With an Articulated Leg and SLIP Dynamics

  • Jeffrey Yu
  • Dennis W. Hong
  • Matt Haberland

Embedding the dynamics of the Spring Loaded Inverted Pendulum (SLIP) and applying a compositional controller around it can simplify dynamic legged robot locomotion control, but what is the energetic cost of this convenience? This paper measures the magnitude of this effect in such a way that the results are applicable to a wide class of jumping robots. A three-link monoped model with revolute joints is used to compare the energetic costs of locomotion using two different control approaches: 1) SLIP-embedding with a Raibert-style controller optimized for energetic efficiency, and 2) a trajectory optimized only for energetic efficiency. By performing this comparison in simulation for a large number of different monopeds randomly sampled from a space of realistic robot designs, it is found that the SLIP-Raibert approach requires, on average, almost twice the energy of the trajectory-optimized controller to traverse a given distance. Furthermore, the increase in energetic cost does not depend much on the particulars of the robot design, as the SLIP-Raibert approach requires at least 50% more energy for approximately 88% of realistic robot designs.

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