Submodular Functions, Optimization, and Applications to Machine Learning

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1 Submodular Functions, Optimization, and Applications to Machine Learning Spring Quarter, Lecture Prof. Jeff Bilmes University of Washington, Seattle Department of Electrical Engineering Apr th, 0 f (A) + f (B) Clockwise from top left:v Lásló Lovász Jack Edmonds Satoru Fujishige George Nemhauser Laurence Wolsey András Frank Lloyd Shapley H. Narayanan Robert Bixby William Cunningham William Tutte Richard Rado Alexander Schrijver Garrett Birkhoff Hassler Whitney Richard Dedekind Prof. Jeff Bilmes = f (Ar ) + f (C ) + f (Br ) f (A B) + = f (Ar ) +f (C ) + f (Br ) f (A B) = f (A B) EEb/Spring 0/Submodularity - Lecture - Apr th, 0 Logistics F/0 (pg./) Review Cumulative Outstanding Reading Read chapters and from Fujishige s book. Read chapter from Fujishige s book. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

2 Logistics Announcements, Assignments, and Reminders Review Homework, available at our assignment dropbox ( due (electronically) Monday (/) at :pm. Homework, available at our assignment dropbox ( due (electronically) Monday (/) at :pm. Homework, available at our assignment dropbox ( due (electronically) Friday (/) at :pm. Weekly Office Hours: Mondays, :0-:0, or by skype or google hangout (set up meeting via our our discussion board (https: //canvas.uw.edu/courses/0/discussion_topics)). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Logistics Class Road Map - IT-I Review L(/): Motivation, Applications, & Basic Definitions L(/0): Machine Learning Apps (diversity, complexity, parameter, learning target, surrogate). L(/): Info theory exs, more apps, definitions, graph/combinatorial examples, matrix rank example, visualization L(/): Graph and Combinatorial Examples, matrix rank, Venn diagrams, examples of proofs of submodularity, some useful properties L(/): Examples & Properties, Other Defs., Independence L(/): Independence, Matroids, Matroid Examples, matroid rank is submodular L(/): Matroid Rank, More on Partition Matroid, System of Distinct Reps, Transversals, Transversal Matroid, L(/0): Transversals, Matroid and representation, Dual Matroids, Geometries L(/): L0(/): L(/): L(/): L(/): L(/): L(/): L(/): L(/): L(/): L(/): L0(/): Final Presentations maximization. Finals Week: June th-0th, 0. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

3 Logistics System of Distinct Representatives Review Let (V, V) be a set system (i.e., V = (V k : i I) where V i V for all i), and I is an index set. Hence, I = V. A family (v i : i I) with v i V is said to be a system of distinct representatives of V if a bijection π : I I such that v i V π(i) and v i v j for all i j. In a system of distinct representatives, there is a requirement for the representatives to be distinct. We can re-state (and rename) this as a: Definition.. (transversal) Given a set system (V, V) and index set I for V as defined above, a set T V is a transversal of V if there is a bijection π : T I such that x V π(x) for all x T (.) Note that due to π : T I being a bijection, all of I and T are covered (so this makes things distinct automatically). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Logistics When do transversals exist? As we saw, a transversal might not always exist. How to tell? Given a set system (V, V) with V = (V i : i I), and V i V for all i. Then, for any J I, let Review V (J) = j J V j (.) so V (J) : I Z + is the set cover func. (we know is submodular). We have Theorem.. (Hall s theorem) Given a set system (V, V), the family of subsets V = (V i : i I) has a transversal (v i : i I) iff for all J I V (J) J (.0) Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

4 Logistics When do transversals exist? As we saw, a transversal might not always exist. How to tell? Given a set system (V, V) with V = (V i : i I), and V i V for all i. Then, for any J I, let Review V (J) = j J V j (.) so V (J) : I Z + is the set cover func. (we know is submodular). Hall s theorem ( J I, V (J) J ) as a bipartite graph. V I V I Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Logistics When do transversals exist? As we saw, a transversal might not always exist. How to tell? Given a set system (V, V) with V = (V i : i I), and V i V for all i. Then, for any J I, let Review V (J) = j J V j (.) so V (J) : I Z + is the set cover func. (we know is submodular). Moreover, we have Theorem.. (Rado s theorem ()) If M = (V, r) is a matroid on V with rank function r, then the family of subsets (V i : i I) of V has a transversal (v i : i I) that is independent in M iff for all J I r(v (J)) J (.) Note, a transversal T independent in M means that r(t ) = T. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

5 Logistics Application s of Hall s theorem Review Consider a set of jobs I and a set of applicants V to the jobs. If an applicant v V is qualified for job i I, we add edge (v, i) to the bipartite graph G = (V, I, E). We wish all jobs to be filled, and hence Hall s condition ( J I, V (J) J ) is a necessary and sufficient condition for this to be possible. Note if V = I, then Hall s theorem is the Marriage Theorem (Frobenious ), where an edge (v, i) in the graph indicate compatibility between two individuals v V and i I coming from two separate groups V and I. If J I, V (J) J, then all individuals in each group can be matched with a compatible mate. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Logistics More general conditions for existence of transversals Theorem.. (Polymatroid transversal theorem) If V = (V i : i I) is a finite family of non-empty subsets of V, and f : V Z + is a non-negative, integral, monotone non-decreasing, and submodular function, then V has a system of representatives (v i : i I) such that if and only if Review f( i J {v i }) J for all J I (.) f(v (J)) J for all J I (.0) Given Theorem.., we immediately get Theorem.. by taking f(s) = S for S V. In which case, Eq.. requires the system of representatives to be distinct. We get Theorem.. by taking f(s) = r(s) for S V, the rank function of the matroid. where, Eq.. insists the system of representatives is independent in M, and hence also distinct. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg.0/)

6 Transversal Matroid Transversals, themselves, define a matroid. Theorem.. If V is a family of finite subsets of a ground set V, then the collection of partial transversals of V is the set of independent sets of a matroid M = (V, V) on V. This means that the transversals of V are the bases of matroid M. Therefore, all maximal partial transversals of V have the same cardinality! Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Transversals and Bipartite Matchings Transversals correspond exactly to matchings in bipartite graphs. Given a set system (V, V), with V = (V i : i I), we can define a bipartite graph G = (V, I, E) associated with V that has edge set {(v, i) : v V, i I, v V i }. A matching in this graph is a set of edges no two of which that have a common endpoint. In fact, we easily have: Lemma.. A subset T V is a partial transversal of V iff there is a matching in (V, I, E) in which every edge has one endpoint in T (T matched into I). V I V I Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F0/0 (pg./)

7 Arbitrary Matchings and Matroids? Are arbitrary matchings matroids? Consider the following graph (left), and two max-matchings (two right instances) A B A B A B D C D {AC} is a maximum matching, as is {AD, BC}, but they are not the same size. C D C Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Partition Matroid, rank as matching Example where l =, (k, k, k, k, k ) = (,,,, ). V V V V V V I I I I I I Recall, Γ : V R as the neighbor function in a bipartite graph, the neighbors of X is defined as Γ(X) = {v V (G) \ X : E(X, {v}) }, and recall that Γ(X) is submodular. Here, for X V, we have Γ(X) = {i I : (v, i) E(G) and v X}. For such a constructed bipartite graph, the rank function of a partition matroid is r(x) = l i= min( X V i, k i ) = the maximum matching involving X. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

8 Morphing Partition Matroid Rank Recall the partition matroid rank function. Note, k i = I i in the bipartite graph representation, and since a matroid, w.l.o.g., V i k i (also, recall, V (J) = j J V j ). Start with partition matroid rank function in the subsequent equations. r(a) = min( A V i, k i ) (.) = i {,...,l} l min( A V (I i ), I i ) (.) i= = min J i {,I i } i {,...,l} = min J i I i i {,...,l} = i {,...,l} ({ } A V (Ii ) if J i 0 if J i = ({ } A V (Ii ) if J i 0 if J i = ) + I i \ J i ) + I i \ J i (.) (.) min ( V (J i ) A + I i \ J i ) (.) J i I i Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)... Morphing Partition Matroid Rank Continuing, l r(a) = min ( V (J i ) V (I i ) A I i J i + I i ) (.) J i I i i= ( l ) = min V (J) V (I i ) A I i J + I i (.) J I = min J I i= ( V (J) V (I) A J + I ) (.) = min ( V (J) A J + I ) (.) J I In fact, this bottom (more general) expression is the expression for the rank of a transversal matroid. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

9 Partial Transversals Are Independent Sets in a Matroid In fact, we have Theorem.. Let (V, V) where V = (V, V,..., V l ) be a subset system. Let I = {,..., l}. Let I be the set of partial transversals of V. Then (V, I) is a matroid. Proof. We note that I since the empty set is a transversal of the empty subfamily of V, thus (I ) holds. We already saw that if T is a partial transversal of V, and if T T, then T is also a partial transversal. So (I ) holds. Suppose that T and T are partial transversals of V such that T < T. Exercise: show that (I ) holds. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Transversal Matroid Rank Transversal matroid has rank r(a) = min ( V (J) A J + I ) (.0) J I Therefore, this function is submodular. Note that it is a minimum over a set of modular functions. Is this true in general? Exercise: Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

10 Matroid loops A circuit in a matroids is well defined, a subset A E is circuit if it is an inclusionwise minimally dependent set (i.e., if r(a) < A and for any a A, r(a \ {a}) = A ). There is no reason in a matroid such an A could not consist of a single element. Such an {a} is called a loop. In a matric (i.e., linear) matroid, the only such loop is the value 0, as all non-zero vectors have rank. The 0 can appear > time with different indices, as can a self loop in a graph appear on different nodes. Note, we also say that two elements s, t are said to be parallel if {s, t} is a circuit. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Representable Definition.. (Matroid isomorphism) Two matroids M and M respectively on ground sets V and V are isomorphic if there is a bijection π : V V which preserves independence (equivalently, rank, circuits, and so on). Let F be any field (such as R, Q, or some finite field F, such as a Galois field GF(p) where p is prime (such as GF()), but not Z. Succinctly: A field is a set with +,, closure, associativity, commutativity, and additive and multiplictaive identities and inverses. We can more generally define matroids on a field. Definition.. (linear matroids on a field) Let X be an n m matrix and E = {,..., m}, where X ij F for some field, and let I be the set of subsets of E such that the columns of X are linearly independent over F. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg.0/)

11 Representable Definition.. (Matroid isomorphism) Two matroids M and M respectively on ground sets V and V are isomorphic if there is a bijection π : V V which preserves independence (equivalently, rank, circuits, and so on). Let F be any field (such as R, Q, or some finite field F, such as a Galois field GF(p) where p is prime (such as GF()), but not Z. Succinctly: A field is a set with +,, closure, associativity, commutativity, and additive and multiplictaive identities and inverses. We can more generally define matroids on a field. Definition.. (representable (as a linear matroid)) Any matroid isomorphic to a linear matroid on a field is called representable over F Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Representability of Transversal Matroids Piff and Welsh in 0, and Adkin in proved an important theorem about representability of transversal matroids. In particular: Theorem.. Transversal matroids are representable over all finite fields of sufficiently large cardinality, and are representable over any infinite field. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

12 Converse: Representability of Transversal Matroids The converse is not true, however. Example.. Let V = {,,,,, } be a ground set and let M = (V, I) be a set system where I is all subsets of V of cardinality except for the pairs {, }, {, }, {, }. It can be shown that this is a matroid and is representable. However, this matroid is not isomorphic to any transversal matroid. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F0/0 (pg./) Review from Lecture The next frame comes from lecture. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

13 Matroids, other definitions using matroid rank r : V Z + Definition.. (closed/flat/subspace) A subset A E is closed (equivalently, a flat or a subspace) of matroid M if for all x E \ A, r(a {x}) = r(a) +. Definition: A hyperplane is a flat of rank r(m). Definition.. (closure) Given A E, the closure (or span) of A, is defined by span(a) = {b E : r(a {b}) = r(a)}. Therefore, a closed set A has span(a) = A. Definition.. (circuit) A subset A E is circuit or a cycle if it is an inclusionwise-minimal dependent set (i.e., if r(a) < A and for any a A, r(a \ {a}) = A ). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Spanning Sets We have the following definitions: Definition.. (spanning set of a set) Given a matroid M = (V, I), and a set Y V, then any set X Y such that r(x) = r(y ) is called a spanning set of Y. Definition.. (spanning set of a matroid) Given a matroid M = (V, I), any set A V such that r(a) = r(v ) is called a spanning set of the matroid. A base of a matroid is a minimal spanning set (and it is independent) but supersets of a base are also spanning. V is always trivially spanning. Consider the terminology: spanning tree in a graph, comes from spanning in a matroid sense. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

14 Dual of a Matroid Given a matroid M = (V, I), a dual matroid M = (V, I ) can be defined on the same ground set V, but using a very different set of independent sets I. We define the set of sets I for M as follows: I = {A V : V \ A is a spanning set of M} (.) = {V \ S : S V is a spanning set of M} (.) i.e., I are complements of spanning sets of M. That is, a set A is independent in the dual matroid M if removal of A from V does not decrease the rank in M: I = {A V : rank M (V \ A) = rank M (V )} (.) In other words, a set A V is independent in the dual M (i.e., A I ) if its complement is spanning in M (residual V \ A must contain a base in M). Dual of the dual: Note, we have that (M ) = M. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Dual of a Matroid: Bases The smallest spanning sets are bases. Hence, a base B of M (where B = V \ B is as small as possible while still spanning) is the complement of a base B of M (where B = V \ B is as large as possible while still being independent). In fact, we have that Theorem.. (Dual matroid bases) Let M = (V, I) be a matroid and B(M) be the set of bases of M. Then define B (M) = {V \ B : B B(M)}. (.) Then B (M) is the set of basis of M (that is, B (M) = B(M ). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

15 An exercise in duality Terminology B (M), the bases of M, are called cobases of M. The circuits of M are called cocircuits of M. The hyperplanes of M are called cohyperplanes of M. The independent sets of M are called coindependent sets of M. The spanning sets of M are called cospanning sets of M. Proposition.. (from Oxley 0) Let M = (V, I) be a matroid, and let X V. Then X is independent in M iff V \ X is cospanning in M (spanning in M ). X is spanning in M iff V \ X is coindependent in M (independent in M ). X is a hyperplane in M iff V \ X is a cocircuit in M (circuit in M ). X is a circuit in M iff V \ X is a cohyperplane in M (hyperplane in M ). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Example duality: graphic matroid Using a graphic/cycle matroid, we can already see how dual matroid concepts demonstrates the extraordinary flexibility and power that a matroid can have. Recall, in cycle matroid, a spanning set of G is any set of edges that are incident to all nodes (i.e., any superset of a spanning forest), a minimal spanning set is a spanning tree (or forest), and a circuit has a nice visual interpretation (a cycle in the graph). A cut in a graph G is a set of edges, the removal of which increases the number of connected components. I.e., X E(G) is a cut in G if k(g) < k(g \ X). A minimal cut in G is a cut X E(G) such that X \ {x} is not a cut for any x X. A cocycle (cocircuit) in a graphic matroid is a minimal graph cut. A mincut is a circuit in the dual cocycle (or cut ) matroid. All dependent sets in a cocycle matroid are cuts (i.e., a dependent set is a minimal cut or contains one). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg.0/)

16 Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. A graph G Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) 0 Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. Minimally spanning in M (and thus a base (maximally independent) in M) Maximally independent in M* (thus a base, minimally spanning, in M*) 0 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

17 Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. Minimally spanning in M (and thus a base (maximally independent) in M) Spanning in M, but not a base, and 0 Maximally independent in M* (thus a base, minimally spanning, in M*) Independent in M* (does 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. Independent but not spanning in M, and not closed in M. 0 Dependent in M* (contains a cocycle, is a nonminimal cut) 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

18 Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. Spanning in M, but not a base, and not independent (has cycles) 0 Independent in M* (does not contain a cut) 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. Independent but not spanning in M, and not closed in M. 0 Dependent in M* (contains a cocycle, is a nonminimal cut) 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

19 Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. A hyperplane in M, dependent but not spanning in M A cycle in M* (minimally dependent in M*, a cocycle, or a minimal cut) 0 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Example: cocycle matroid (sometimes cut matroid ) The dual of the cycle matroid is called the cocycle matroid. Recall, I = {A V : V \ A is a spanning set of M} It consists of all sets of edges the complement of which contains a spanning tree i.e., an independent set can t consist of edges that, if removed, would render the graph non-spanning. A hyperplane in M, dependent but not spanning in M 0 A cycle in M* (minimally dependent in M*, a cocycle, or a minimal cut) 0 Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

20 The dual of a matroid is (indeed) a matroid Theorem.. Given matroid M = (V, I), let M = (V, I ) be as previously defined. Then M is a matroid. Proof. Clearly I, so (I ) holds. Also, if I J I, then clearly also I I since if V \ J is spanning in M, so must V \ I. Therefore, (I ) holds. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)... The dual of a matroid is (indeed) a matroid Theorem.. Given matroid M = (V, I), let M = (V, I ) be as previously defined. Then M is a matroid. Proof. Consider I, J I with I < J. We need to show that there is some member v J \ I such that I + v is independent in M, which means that V \ (I + v) = (V \ I) \ v is still spanning in M. That is, removing v from V \ I doesn t make (V \ I) \ v not spanning in M. Since V \ J is spanning in M, V \ J contains some base (say B V \ J) of M. Also, V \ I contains a base of M, say B V \ I. Since B \ I V \ I, and B \ I is independent in M, we can choose the base B of M s.t. B \ I B V \ I. Since B and J are disjoint, we have both: ) B \ I and J \ I are disjoint; and ) B I I \ J. Also note, B and I are disjoint. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg.0/)...

21 The dual of a matroid is (indeed) a matroid Theorem.. Given matroid M = (V, I), let M = (V, I ) be as previously defined. Then M is a matroid. Proof. Now J \ I B, since otherwise (i.e., assuming J \ I B ): B = B I + B \ I (.) I \ J + B \ I (.) < J \ I + B \ I B (.) which is a contradiction. The last inequality on the right follows since J \ I B (by assumption) and B \ I B implies that (J \ I) (B \ I) B, but since J and B are disjoint, we have that J \ I + B \ I B. Therefore, J \ I B, and there is a v J \ I s.t. v / B. So B is disjoint with I {v}, means B V \ (I {v}), or Prof. Jeff V Bilmes \ (I {v}) EEb/Spring is spanning 0/Submodularity in M, and- Lecture therefore - Apr th, I 0 {v} IF/0. (pg./) Matroid Duals and Representability Theorem.. Let M be an F-representable matroid (i.e., one that can be represented by a finite sized matrix over field F). Then M is also F-representable. Hence, for matroids as general as matric matroids, duality does not extend the space of matroids that can be used. Theorem.. Let M be a graphic matroid (i.e., one that can be represented by a graph G = (V, E)). Then M is not necessarily also graphic. Hence, for graphic matroids, duality can increase the space and power of matroids, and since they are based on a graph, they are relatively easy to use: ) all cuts are dependent sets; ) minimal cuts are cycles; ) bases are one edge less than minimal cuts; and ) independent sets are edges that are not cuts. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F0/0 (pg./)

22 Dual Matroid Rank Theorem.. The rank function r M of the dual matroid M may be specified in terms of the rank r M in matroid M as follows. For X V : r M (X) = X + r M (V \ X) r M (V ) (.) Note, we again immediately see that this is submodular by the properties of submodular functions we saw in lectures and. I.e., X is modular, complement f(v \ X) is submodular if f is submodular, r M (V ) is a constant, and summing submodular functions and a constant preserves submodularity. Non-negativity integral follows since X + r M (V \ X) r M (X) + r M (V \ X) r M (V ). The right inequality follows since r M is submodular. Monotone non-decreasing follows since, as X increases by one, X always increases by, while r M (V \ X) decreases by one or zero. Therefore, r M is the rank function of a matroid. That it is the dual Prof. Jeff matroid Bilmes rank function EEb/Springis0/Submodularity shown in the - Lecture next - Apr proof. th, 0 F/0 (pg./) Dual Matroid Rank Theorem.. The rank function r M of the dual matroid M may be specified in terms of the rank r M in matroid M as follows. For X V : Proof. r M (X) = X + r M (V \ X) r M (V ) (.) A set X is independent in (V, r M ) if and only if or r M (X) = X + r M (V \ X) r M (V ) = X (.) r M (V \ X) = r M (V ) (.0) But a subset X is independent in M only if V \ X is spanning in M (by the definition of the dual matroid). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

23 Matroid restriction/deletion Let M = (V, I) be a matroid and let Y V, then I Y = {Z : Z Y, Z I} (.) is such that M Y = (Y, I Y ) is a matroid with rank r(m Y ) = r(y ). This is called the restriction of M to Y, and is often written M Y. If Y = V \ X, then we have that M Y has the form: I Y = {Z : Z X =, Z I} (.) is considered a deletion of X from M, and is often written M \ X. Hence, M Y = M \ (V \ Y ), and M (V \ X) = M \ X. The rank function is of the same form. I.e., r Y : Y Z +, where r Y (Z) = r(z) for Z Y. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Matroid contraction M/Z Contraction is dual to deletion, and is like a forced inclusion of contained base, but with a similar ground set removal. Contracting Z is written M/Z. Let Z V and let X be a base of Z. Then a subset I of V \ Z is independent in M/Z iff I X is independent in M. The rank function takes the form r M/Z (Y ) = r(y Z) r(z) = r(y Z) (.) So given I V \ Z and X is a base of Z, r M/Z (I) = I is identical to r(i Z) = I + r(z) = I + X but r(i Z) = r(i X). This implies r(i X) = I + X, or I X is independent in M. A minor of a matroid is any matroid obtained via a series of deletions and contractions of some matroid. In fact, it is the case M/Z = (M \ Z) (Exercise: show why). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

24 Matroid Intersection Let M = (V, I ) and M = (V, I ) be two matroids. Consider their common independent sets I I. While (V, I I ) is typically not a matroid (Exercise: show graphical example.), we might be interested in finding the maximum size common independent set. That is, find max X such that both X I and X I. Theorem.. Let M and M be given as above, with rank functions r and r. Then the size of the maximum size set in I I is given by (r r )(V ) min X V ( r (X) + r (V \ X) ) (.) This is an instance of the convolution of two submodular functions, f and f that, evaluated at Y V, is written as: ( ) (f f )(Y ) = min f (X) + f (Y \ X) (.) X Y Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Convolution and Hall s Theorem Recall Hall s theorem, that a transversal exists iff for all X V, we have Γ(X) X. Γ(X) X 0, X min X Γ(X) X 0 min X Γ(X) + V X V ) min X ( Γ(X) + V \ X V [Γ( ) ](V ) V So Hall s theorem can be expressed as convolution. Exercise: define g(a) = [Γ( ) ](A), prove that g is submodular. Note, in general, convolution of two submodular functions does not preserve submodularity (but in certain special cases it does). Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

25 Matroid Union Definition.. Let M = (V, I ), M = (V, I ),..., M k = (V k, I k ) be matroids. We define the union of matroids as M M M k = (V V V k, I I I k ), where I I I k = {I I I k I I,..., I k I k } (.) Note A B designates the disjoint union of A and B. Theorem.. Let M = (V, I ), M = (V, I ),..., M k = (V k, I k ) be matroids, with rank functions r,..., r k. Then the union of these matroids is still a matroid, having rank function r(y ) = min X Y for any Y V... V k. ( Y \ X + r (X V ) + + r k (X V k ) ) (.) Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Exercise: Matroid Union, and Matroid duality Exercise: Describe M M. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg.0/)

26 Matroids of three or fewer elements are graphic All matroids up to and including three elements (edges) are graphic. (a) The only matroid with zero elements. (b) The two one-element matroids. (c) The four two-element matroids. (d) The eight three-element matroids. This is a nice way to show matroids with low ground set sizes. What about matroids that are low rank but with many elements? Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./) Affine Matroids Given an n m matrix with entries over some field F, we say that a subset S {,..., m} of indices (with corresponding column vectors {v i : i S}, with S = k) is affinely dependent if m and there exists elements {a,..., a k } F, not all zero with k i= a i = 0, such that k i= a iv i = 0. Otherwise, the set is called affinely independent. Concisely: points {v, v,..., v k } are affinely independent if v v, v v,..., v k v are linearly independent. Example: in D, three collinear points are affinely dependent, three non-collear points are affinely independent, and non-collinear points are affinely dependent. Proposition.. (affine matroid) Let ground set E = {,..., m} index column vectors of a matrix, and let I be the set of subsets X of E such that X indices affinely independent vectors. Then (E, I) is a matroid. Exercise: prove this. Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F/0 (pg./)

27 Euclidean Representation of Low-rank Matroids Consider the affine matroid with n m = matrix on the field F = R, and let the elements be {(0, 0), (, 0), (, 0), (0, ), (0, ), (, )}. We can plot the points in R as on the right: Points have rank, lines have rank, planes have rank. Flats (points, lines, planes, etc.) have rank equal to one more than their geometric dimension. Any two points constitute a line, but lines with only two points are not drawn. Lines indicate collinear sets with points, while any two points have rank. Dependent sets consist of all subsets with elements (rank ), or collinear elements (rank ). Any two points have rank. y (,0) (,0) (0,0) (,) (0,) (0,) x Prof. Jeff Bilmes EEb/Spring 0/Submodularity - Lecture - Apr th, 0 F0/0 (pg./)