Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201

A Visual Stack Based Paradigm for Visualization Environments

We present a new visual paradigm for Visualization Systems, inspired by stack-based programming. Most current implementations of Visualization systems are based on directional graphs. However directional graphs as a visual representation of execution, though initially quite intuitive, quickly grow cumbersome and difficult to follow under complex examples. Our system presents the user with a simple and compact methodology of visually stacking actions directly on top of data objects as a way of creating filter scripts. We explore and address extensions to the basic paradigm to allow for: multiple data input or data output objects to and from execution action modules, execution thread jumps and loops, encapsulation, and overall execution control. We exploit the dynamic nature of current computer graphic interfaces by utilizing features such as drag-and-drop, color emphasis and object animation to indicate action, looping, message/parameter passing; to furnish an overall better understanding of the resulting laid out execution scripts

Guppy: Process-Oriented Programming on Embedded Devices

Guppy is a new and experimental process-oriented programming language, taking much inspiration (and some code-base) from the existing occam-pi language. This paper reports on a variety of aspects related to this, specifically language, compiler and run-time system development, enabling Guppy programs to run on desktop and embedded systems. A native code-generation approach is taken, using C as the intermediate language, and with stack-space requirements determined at compile-time

Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure.Comment: arXiv admin note: substantial text overlap with arXiv:1609.04861, arXiv:1711.00267, arXiv:1604.0006

Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure

Integrity static analysis of COTS/SOUP

This paper describes the integrity static analysis approach developed to support the justification of commercial off-the-shelf software (COTS) used in a safety-related system. The static analysis was part of an overall software qualification programme, which also included the work reported in our paper presented at Safecomp 2002. Integrity static analysis focuses on unsafe language constructs and “covert” flows, where one thread can affect the data or control flow of another thread. The analysis addressed two main aspects: the internal integrity of the code (especially for the more critical functions), and the intra-component integrity, checking for covert channels. The analysis process was supported by an aggregation of tools, combined and engineered to support the checks done and to scale as necessary. Integrity static analysis is feasible for industrial scale software, did not require unreasonable resources and we provide data that illustrates its contribution to the software qualification programme