Combining knowledge graphs, quickly and accurately

Novel cross-graph-attention and self-attention mechanisms enable state-of-the-art performance.

Knowledge graphs are a way of representing information that can capture complex relationships more easily than conventional databases. At Amazon, we use knowledge graphs to represent the hierarchical relationships between product types on amazon.com; the relationships between creators and content on Amazon Music and Prime Video; and general information for Alexa’s question-answering service — among other things.

Expanding a knowledge graph often involves integrating it with another knowledge graph. But different graphs may use different terms for the same entities, which can lead to errors and inconsistencies during integration. Hence the need for automated techniques of entity alignment, or determining which elements of different graphs refer to the same entities.

In a paper accepted to the Web Conference, my colleagues and I describe a new entity alignment technique that factors in information about the graph in the vicinity of the entity name. In tests involving the integration of two movie databases, our system improved upon the best-performing of ten baseline systems by 10% on a metric called area under the precision-recall curve (PRAUC), which evaluates the trade-off between true-positive and true-negative rates.

Despite our system’s improved performance, it remains highly computationally efficient. One of the baseline systems we used for comparison is a neural-network-based system called DeepMatcher, which was specifically designed with scalability in mind. On two tasks, involving movie databases and music databases, our system reduced training time by 95% compared to DeepMatcher, while offering enormous improvements in PRAUC.

To implement our model, we used a new open-source tool called DGL (Deep Graph Library), which was developed by researchers in Amazon Web Services.

A graph is a mathematical object that consists of nodes, usually depicted as circles, and edges, usually depicted as line segments connecting the circles. Network diagrams, organizational charts, and flow charts are familiar examples of graphs.

Our work specifically addresses the problem of merging multi-type knowledge graphs, or knowledge graphs whose nodes represent more than one type of entity. For instance, in the movie data sets we worked with, a node might represent an actor, a director, a film, a film genre, and so on. Edges represented the relationships between entities — acted in, directed, wrote, and so on.

Entity alignment.png
This example illustrates the challenge of entity alignment. IMDB lists the writer of the movie Don’t Stop Dreaming as Aditya Raj, but the (now defunct) Freebase database lists him as Aditya Raj Kapoor. Are they the same person?

Our system is an example of a graph neural network, a type of neural network that has recently become popular for graph-related tasks. To get a sense for how it works, consider the Freebase example above, which includes what we call the “neighborhood” of the node representing Aditya Raj Kapoor. This is a two-hop local graph, meaning that it contains the nodes connected to Kapoor (one hop) and the nodes connected to them (two hops), but it doesn’t fan out any farther through the knowledge graph. The neighborhood thus consists of six nodes.

With a standard graph neural network (GNN), the first step — known as the level-0 step — is to embed each of the nodes, or convert it to a fixed-length vector representation. That representation is intended to capture information about node attributes useful for the network’s task — in this case, entity alignment — and it’s learned during the network’s training.

Next, in the level-1 step, the network considers the central node (here, Aditya Raj Kapoor) and the nodes one hop away from it (Don’t Stop Dreaming and Sambar Salsa). For each of these nodes, it produces a new embedding, which consists of the node's level-0 embedding concatenated with the sum of its immediate neighbors' level-0 embeddings.

At the level-2 step — the final step in a two-hop network — the network produces a new embedding for the central node, which consists of that node’s level-1 embedding concatenated with the summation of the level-1 embeddings of its immediate neighbors.

Graph neural network
A demonstration of how graph neural networks use recursive embedding to condense all the information in a two-hop graph into a single vector. Relationships between entities — such as "produce" and "write" in a movie database (red and yellow arrows, respectively) — are encoded in the level-0 embeddings of the entities themselves (red and orange blocks).
Stacy Reilly

In our example, this process compresses the entire six-node neighborhood graph from the Freebase database into a single vector. It would do the same with the ten-node neighborhood graph from IMDB, and comparing the vectors is the basis for the network’s decision about whether or not the entities at the centers of the graphs — Aditya Raj and Aditya Raj Kapoor — are the same.

This is the standard implementation of the GNN for the entity alignment problem. Unfortunately, in our experiments, it performed terribly. So we made two significant modifications.

The first was a cross-graph attention mechanism. During the level-1 and level-2 aggregation stages, when the network sums the embeddings of each node’s neighbors, it weights those sums based on a comparison with the other graph.

In our example, that means that during the level-1 and level-2 aggregations, the nodes Don’t Stop Dreaming and Sambar Salsa, which show up in both the IMDB and Freebase graphs, will get greater weight than Gawaahi and Shamaal, which show up only in IMDB.

Cross-graph attention.png
In this example, our cross-graph attention mechanism (blue lines) gives added weight (dotted red lines) to the embeddings of entities shared between neighborhood graphs.

The cross-graph attention mechanism thus emphasizes correspondences between the graphs and de-emphasizes differences. After all, the differences between the graphs is why it’s useful to combine their information in the first place.

Radioactive.png
The original version of “Radioactive” and the remix are distinct tracks, but they share so many attributes that a naïve entity alignment system might misclassify them as identical.

This approach has one major problem, however: sometimes the differences between graphs matter more than their correspondences. Consider the example at left, which compares two different versions of Imagine Dragons’ hit “Radioactive”, the original album cut and the remix featuring Kendrick Lamar.

Here, the cross-graph attention mechanism might overweight the many similarities between the two tracks and underweight the key difference: the main performer. So our network also includes a self-attention mechanism.

Self-attention.png
The application of our self-attention mechanism in our running example involving Aditya Raj.

During training, the self-attention mechanism learns which attributes of an entity are most important for distinguishing it from entities that look similar. In this case, it would learn that many distinct recordings may share the same songwriter or songwriters; what distinguishes them is the performer.

These two modifications are chiefly responsible for the improved performance of our model versus the ten baselines we compared it with.

Finally, a quick remark about one of the several techniques we used to increase our model’s computational efficiency. Although, for purposes of entity alignment, we compare two-hop neighborhoods, we don’t necessarily include a given entity’s entire two-hop neighborhood. We impose a cap on the number of nodes included in the neighborhood, and to select nodes for inclusion, we use weighted sampling.

The sample weights have an inverse relationship to the number of neighbor nodes that share the same relationship to the node of interest. So, for instance, a movie might have dozens of actors but only one director. In that case, our method would have a much higher chance of including the director node in our sampled neighborhood than it would of including any given actor node. Restricting the neighborhood size in this way prevents our method’s computational complexity from getting out of hand.

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Amazon is seeking exceptional talent to help develop the next generation of advanced robotics systems that will transform automation at Amazon's scale. We're building revolutionary robotic systems that combine cutting-edge AI, sophisticated control systems, and advanced mechanical design to create adaptable automation solutions capable of working safely alongside humans in dynamic environments. This is a unique opportunity to shape the future of robotics and automation at unprecedented scale, working with world-class teams pushing the boundaries of what's possible in robotic manipulation, locomotion, and human-robot interaction. This role presents an opportunity to shape the future of robotics through innovative applications of deep learning and large language models. The ideal candidate will contribute to research that bridges the gap between theoretical advancement and practical implementation in robotics. You will be part of a team that's revolutionizing how robots learn, adapt, and interact with their environment. Join us in building the next generation of intelligent robotics systems that will transform the future of automation and human-robot collaboration. As an Applied Scientist, you will develop and improve machine learning systems that help robots perceive, reason, and act in real-world environments. You will leverage state-of-the-art models (open source and internal research), evaluate them on representative tasks, and adapt/optimize them to meet robustness, safety, and performance needs. You will invent new algorithms where gaps exist. You’ll collaborate closely with research, controls, hardware, and product-facing teams, and your outputs will be used by downstream teams to further customize and deploy on specific robot embodiments. Key job responsibilities As an Applied Scientist in the Foundations Model team, you will: - Leverage state-of-the-art models for targeted tasks, environments, and robot embodiments through fine-tuning and optimization. - Execute rapid, rigorous experimentation with reproducible results and solid engineering practices, closing the gap between sim and real environments. - Build and run capability evaluations/benchmarks to clearly profile performance, generalization, and failure modes. - Contribute to the data and training workflow: collection/curation, dataset quality/provenance, and repeatable training recipes. - Write clean, maintainable, well commented and documented code, contribute to training infrastructure, create tools for model evaluation and testing, and implement necessary APIs - Stay current with latest developments in foundation models and robotics, assist in literature reviews and research documentation, prepare technical reports and presentations, and contribute to research discussions and brainstorming sessions. - Work closely with senior scientists, engineers, and leaders across multiple teams, participate in knowledge sharing, support integration efforts with robotics hardware teams, and help document best practices and methodologies. About the team We leverage advanced robotics, machine learning, and artificial intelligence to solve complex operational challenges at unprecedented scale. Our fleet of robots operates across hundreds of facilities worldwide, working in sophisticated coordination to fulfill our mission of customer excellence. We are pioneering the development of robotics foundation models that: - Enable unprecedented generalization across diverse tasks - Integrate multi-modal learning capabilities (visual, tactile, linguistic) - Accelerate skill acquisition through demonstration learning - Enhance robotic perception and environmental understanding - Streamline development processes through reusable capabilities
US, CA, San Francisco
Amazon is seeking an exceptional Sr. Applied Scientist to lead the development of perception systems that harness the power of radar and thermal imaging — enabling robots to perceive and operate reliably in conditions where conventional vision alone falls short. In this role, you will develop ML-driven perception pipelines for non-traditional sensing modalities, pushing the boundaries of what robots can see, understand, and act upon in challenging real-world environments. At Amazon, we leverage advanced robotics, machine learning, and artificial intelligence to solve some of the most complex operational challenges at a scale unlike anywhere else in the world. Our fleet of robots spans hundreds of facilities globally, working in sophisticated coordination to deliver on our promise of customer excellence. As a Sr. Applied Scientist in Multi-Modal Perception, you will apply deep computer vision expertise alongside classical signal processing techniques for radar and thermal imaging — modalities that provide robustness in adverse conditions and sensing capability beyond the visible spectrum. You will develop ML-based methods to extract semantic and geometric information from radar point clouds, radar tensors, and thermal imagery, and fuse these with camera and depth data to build perception systems that are reliable, comprehensive, and ready for deployment at scale. Your work will unlock new capabilities for our robots — enabling reliable detection, classification, and scene understanding in low-visibility conditions, cluttered environments, and scenarios where traditional RGB-based perception is insufficient. You will lead research that translates cutting-edge advances in deep learning and computer vision to these underexplored but high-impact sensing modalities. Join us in building the next generation of multi-modal perception systems that will define the future of autonomous robotics at scale. Key job responsibilities - Lead the research, design, and development of ML-based perception pipelines for radar and thermal/infrared imaging modalities - Develop deep learning models for object detection, classification, segmentation, and tracking using radar data (point clouds, range-Doppler maps, radar tensors) and thermal imagery - Design and implement multi-modal fusion architectures that combine radar, thermal, camera, and depth data for robust, all-condition perception - Develop novel representations and feature extraction methods tailored to the unique characteristics of radar and thermal sensors (sparsity, noise profiles, spectral properties) - Build end-to-end perception systems — from raw sensor data processing and calibration to model training, evaluation, and real-time deployment - Collaborate closely with Hardware, Navigation, Planning, and Controls teams to define sensor configurations and deliver integrated autonomy solutions - Establish benchmarks, datasets, and evaluation frameworks for radar and thermal perception - Mentor scientists and engineers; foster a culture of scientific rigor, innovation, and high-impact delivery - Publish research findings in top-tier venues (CVPR, ICCV, ECCV, ICRA, NeurIPS, etc.) and contribute to patents A day in the life - Train ML models for deployment in simulation and real-world robots, identify and document their limitations post-deployment - Drive technical discussions within your team and with key stakeholders to develop innovative solutions to address identified limitations - Actively contribute to brainstorming sessions on adjacent topics, bringing fresh perspectives that help peers grow and succeed — and in doing so, build lasting trust across the team - Mentor team members while maintaining significant hands-on contribution to technical solutions About the team Our team is a diverse group of scientists and engineers passionate about building intelligent machines. We value curiosity, rigor, and a bias for action. We believe in learning from failure and iterating quickly toward solutions that matter.