Locomotion Generation for a Rat Robot based on Environmental Changes via Reinforcement Learning

This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size quadruped robots typically possess fewer and weaker sensors, resulting in difficulty in accurately perceiving and responding to environmental changes. In this context, insufficient and imprecise feedback data from sensors makes it difficult to generate adaptive locomotion based on reinforcement learning. To overcome these challenges, this paper proposes a novel reinforcement learning approach that focuses on extracting effective perceptual information to enhance the environmental adaptability of small-size quadruped robots. According to the frequency of a robot's gait stride, key information of sensor data is analyzed utilizing sinusoidal functions derived from Fourier transform results. Additionally, a multifunctional reward mechanism is proposed to generate adaptive locomotion in different tasks. Extensive simulations are conducted to assess the effectiveness of the proposed reinforcement learning approach in generating rat robot locomotion in various environments. The experiment results illustrate the capability of the proposed approach to maintain stable locomotion of a rat robot across different terrains, including ramps, stairs, and spiral stairs.

Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine

Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even with three limbs. This paper investigates the optimization of dynamic balance during trot gait based on the spatial relationship between the center of mass (CoM) and support area influenced by spinal flexion. During trotting, the robot balance is significantly influenced by the distance of the CoM to the support area formed by diagonal footholds. In this context, lateral spinal flexion, which is able to modify the position of footholds, holds promise for optimizing balance during trotting. This paper explores this phenomenon using a rat robot equipped with a soft actuated spine. Based on the lateral flexion of the spine, we establish a kinematic model to quantify the impact of spinal flexion on robot balance during trot gait. Subsequently, we develop an optimized controller for spinal flexion, designed to enhance balance without altering the leg locomotion. The effectiveness of our proposed controller is evaluated through extensive simulations and physical experiments conducted on a rat robot. Compared to both a non-spine based trot gait controller and a trot gait controller with lateral spinal flexion, our proposed optimized controller effectively improves the dynamic balance of the robot and retains the desired locomotion during trotting.

BenchTemp: A General Benchmark for Evaluating Temporal Graph Neural Networks

To handle graphs in which features or connectivities are evolving over time, a series of temporal graph neural networks (TGNNs) have been proposed. Despite the success of these TGNNs, the previous TGNN evaluations reveal several limitations regarding four critical issues: 1) inconsistent datasets, 2) inconsistent evaluation pipelines, 3) lacking workload diversity, and 4) lacking efficient comparison. Overall, there lacks an empirical study that puts TGNN models onto the same ground and compares them comprehensively. To this end, we propose BenchTemp, a general benchmark for evaluating TGNN models on various workloads. BenchTemp provides a set of benchmark datasets so that different TGNN models can be fairly compared. Further, BenchTemp engineers a standard pipeline that unifies the TGNN evaluation. With BenchTemp, we extensively compare the representative TGNN models on different tasks (e.g., link prediction and node classification) and settings (transductive and inductive), w.r.t. both effectiveness and efficiency metrics. We have made BenchTemp publicly available at https://github.com/qianghuangwhu/benchtemp.

Behavioral graph fraud detection in E-commerce

In e-commerce industry, graph neural network methods are the new trends for transaction risk modeling.The power of graph algorithms lie in the capability to catch transaction linking network information, which is very hard to be captured by other algorithms.However, in most existing approaches, transaction or user connections are defined by hard link strategies on shared properties, such as same credit card, same device, same ip address, same shipping address, etc. Those types of strategies will result in sparse linkages by entities with strong identification characteristics (ie. device) and over-linkages by entities that could be widely shared (ie. ip address), making it more difficult to learn useful information from graph. To address aforementioned problems, we present a novel behavioral biometric based method to establish transaction linkings based on user behavioral similarities, then train an unsupervised GNN to extract embedding features for downstream fraud prediction tasks. To our knowledge, this is the first time similarity based soft link has been used in graph embedding applications. To speed up similarity calculation, we apply an in-house GPU based HDBSCAN clustering method to remove highly concentrated and isolated nodes before graph construction. Our experiments show that embedding features learned from similarity based behavioral graph have achieved significant performance increase to the baseline fraud detection model in various business scenarios. In new guest buyer transaction scenario, this segment is a challenge for traditional method, we can make precision increase from 0.82 to 0.86 at the same recall of 0.27, which means we can decrease false positive rate using this method.

GraphFramEx: Towards Systematic Evaluation of Explainability Methods for Graph Neural Networks

As one of the most popular machine learning models today, graph neural networks (GNNs) have attracted intense interest recently, and so does their explainability. Users are increasingly interested in a better understanding of GNN models and their outcomes. Unfortunately, today's evaluation frameworks for GNN explainability often rely on synthetic datasets, leading to conclusions of limited scope due to a lack of complexity in the problem instances. As GNN models are deployed to more mission-critical applications, we are in dire need for a common evaluation protocol of explainability methods of GNNs. In this paper, we propose, to our best knowledge, the first systematic evaluation framework for GNN explainability, considering explainability on three different "user needs:" explanation focus, mask nature, and mask transformation. We propose a unique metric that combines the fidelity measures and classify explanations based on their quality of being sufficient or necessary. We scope ourselves to node classification tasks and compare the most representative techniques in the field of input-level explainability for GNNs. For the widely used synthetic benchmarks, surprisingly shallow techniques such as personalized PageRank have the best performance for a minimum computation time. But when the graph structure is more complex and nodes have meaningful features, gradient-based methods, in particular Saliency, are the best according to our evaluation criteria. However, none dominates the others on all evaluation dimensions and there is always a trade-off. We further apply our evaluation protocol in a case study on eBay graphs to reflect the production environment.

BRIGHT -- Graph Neural Networks in Real-Time Fraud Detection

Detecting fraudulent transactions is an essential component to control risk in e-commerce marketplaces. Apart from rule-based and machine learning filters that are already deployed in production, we want to enable efficient real-time inference with graph neural networks (GNNs), which is useful to catch multihop risk propagation in a transaction graph. However, two challenges arise in the implementation of GNNs in production. First, future information in a dynamic graph should not be considered in message passing to predict the past. Second, the latency of graph query and GNN model inference is usually up to hundreds of milliseconds, which is costly for some critical online services. To tackle these challenges, we propose a Batch and Real-time Inception GrapH Topology (BRIGHT) framework to conduct an end-to-end GNN learning that allows efficient online real-time inference. BRIGHT framework consists of a graph transformation module (Two-Stage Directed Graph) and a corresponding GNN architecture (Lambda Neural Network). The Two-Stage Directed Graph guarantees that the information passed through neighbors is only from the historical payment transactions. It consists of two subgraphs representing historical relationships and real-time links, respectively. The Lambda Neural Network decouples inference into two stages: batch inference of entity embeddings and real-time inference of transaction prediction. Our experiments show that BRIGHT outperforms the baseline models by >2\% in average w.r.t.~precision. Furthermore, BRIGHT is computationally efficient for real-time fraud detection. Regarding end-to-end performance (including neighbor query and inference), BRIGHT can reduce the P99 latency by >75\%. For the inference stage, our speedup is on average 7.8$\times$ compared to the traditional GNN.

Modelling graph dynamics in fraud detection with "Attention"

At online retail platforms, detecting fraudulent accounts and transactions is crucial to improve customer experience, minimize loss, and avoid unauthorized transactions. Despite the variety of different models for deep learning on graphs, few approaches have been proposed for dealing with graphs that are both heterogeneous and dynamic. In this paper, we propose DyHGN (Dynamic Heterogeneous Graph Neural Network) and its variants to capture both temporal and heterogeneous information. We first construct dynamic heterogeneous graphs from registration and transaction data from eBay. Then, we build models with diachronic entity embedding and heterogeneous graph transformer. We also use model explainability techniques to understand the behaviors of DyHGN-* models. Our findings reveal that modelling graph dynamics with heterogeneous inputs need to be conducted with "attention" depending on the data structure, distribution, and computation cost.

Graph Neural Networks in Real-Time Fraud Detection with Lambda Architecture

Transaction checkout fraud detection is an essential risk control components for E-commerce marketplaces. In order to leverage graph networks to decrease fraud rate efficiently and guarantee the information flow passed through neighbors only from the past of the checkouts, we first present a novel Directed Dynamic Snapshot (DDS) linkage design for graph construction and a Lambda Neural Networks (LNN) architecture for effective inference with Graph Neural Networks embeddings. Experiments show that our LNN on DDS graph, outperforms baseline models significantly and is computational efficient for real-time fraud detection.

Suspicious Massive Registration Detection via Dynamic Heterogeneous Graph Neural Networks

Massive account registration has raised concerns on risk management in e-commerce companies, especially when registration increases rapidly within a short time frame. To monitor these registrations constantly and minimize the potential loss they might incur, detecting massive registration and predicting their riskiness are necessary. In this paper, we propose a Dynamic Heterogeneous Graph Neural Network framework to capture suspicious massive registrations (DHGReg). We first construct a dynamic heterogeneous graph from the registration data, which is composed of a structural subgraph and a temporal subgraph. Then, we design an efficient architecture to predict suspicious/benign accounts. Our proposed model outperforms the baseline models and is computationally efficient in processing a dynamic heterogeneous graph constructed from a real-world dataset. In practice, the DHGReg framework would benefit the detection of suspicious registration behaviors at an early stage.