Speculative Staging for Interpreter Optimization

Interpreters have a bad reputation for having lower performance than just-in-time compilers. We present a new way of building high performance interpreters that is particularly effective for executing dynamically typed programming languages. The key idea is to combine speculative staging of optimized interpreter instructions with a novel technique of incrementally and iteratively concerting them at run-time. This paper introduces the concepts behind deriving optimized instructions from existing interpreter instructions---incrementally peeling off layers of complexity. When compiling the interpreter, these optimized derivatives will be compiled along with the original interpreter instructions. Therefore, our technique is portable by construction since it leverages the existing compiler's backend. At run-time we use instruction substitution from the interpreter's original and expensive instructions to optimized instruction derivatives to speed up execution. Our technique unites high performance with the simplicity and portability of interpreters---we report that our optimization makes the CPython interpreter up to more than four times faster, where our interpreter closes the gap between and sometimes even outperforms PyPy's just-in-time compiler.Comment: 16 pages, 4 figures, 3 tables. Uses CPython 3.2.3 and PyPy 1.

Task-Driven Estimation and Control via Information Bottlenecks

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating the full state of the robot (e.g., a running robot might estimate joint angles and velocities, torso state, and position relative to a goal). However, full state representations are often excessively rich for the specific task at hand and can lead to significant computational inefficiency and brittleness to errors in state estimation. In contrast, we present an approach that eschews such rich representations and seeks to create task-driven representations. The key technical insight is to leverage the theory of information bottlenecks}to formalize the notion of a "task-driven representation" in terms of information theoretic quantities that measure the minimality of a representation. We propose novel iterative algorithms for automatically synthesizing (offline) a task-driven representation (given in terms of a set of task-relevant variables (TRVs)) and a performant control policy that is a function of the TRVs. We present online algorithms for estimating the TRVs in order to apply the control policy. We demonstrate that our approach results in significant robustness to unmodeled measurement uncertainty both theoretically and via thorough simulation experiments including a spring-loaded inverted pendulum running to a goal location.Comment: 9 pages, 4 figures, abridged version accepted to ICRA2019; Incorporates changes in final conference submissio

The color of smiling: computational synaesthesia of facial expressions

This note gives a preliminary account of the transcoding or rechanneling problem between different stimuli as it is of interest for the natural interaction or affective computing fields. By the consideration of a simple example, namely the color response of an affective lamp to a sensed facial expression, we frame the problem within an information- theoretic perspective. A full justification in terms of the Information Bottleneck principle promotes a latent affective space, hitherto surmised as an appealing and intuitive solution, as a suitable mediator between the different stimuli.Comment: Submitted to: 18th International Conference on Image Analysis and Processing (ICIAP 2015), 7-11 September 2015, Genova, Ital