Learning Task Specifications from Demonstrations

Real world applications often naturally decompose into several sub-tasks. In many settings (e.g., robotics) demonstrations provide a natural way to specify the sub-tasks. However, most methods for learning from demonstrations either do not provide guarantees that the artifacts learned for the sub-tasks can be safely recombined or limit the types of composition available. Motivated by this deficit, we consider the problem of inferring Boolean non-Markovian rewards (also known as logical trace properties or specifications) from demonstrations provided by an agent operating in an uncertain, stochastic environment. Crucially, specifications admit well-defined composition rules that are typically easy to interpret. In this paper, we formulate the specification inference task as a maximum a posteriori (MAP) probability inference problem, apply the principle of maximum entropy to derive an analytic demonstration likelihood model and give an efficient approach to search for the most likely specification in a large candidate pool of specifications. In our experiments, we demonstrate how learning specifications can help avoid common problems that often arise due to ad-hoc reward composition.Comment: NIPS 201

RRR: Rank-Regret Representative

Selecting the best items in a dataset is a common task in data exploration. However, the concept of "best" lies in the eyes of the beholder: different users may consider different attributes more important, and hence arrive at different rankings. Nevertheless, one can remove "dominated" items and create a "representative" subset of the data set, comprising the "best items" in it. A Pareto-optimal representative is guaranteed to contain the best item of each possible ranking, but it can be almost as big as the full data. Representative can be found if we relax the requirement to include the best item for every possible user, and instead just limit the users' "regret". Existing work defines regret as the loss in score by limiting consideration to the representative instead of the full data set, for any chosen ranking function. However, the score is often not a meaningful number and users may not understand its absolute value. Sometimes small ranges in score can include large fractions of the data set. In contrast, users do understand the notion of rank ordering. Therefore, alternatively, we consider the position of the items in the ranked list for defining the regret and propose the {\em rank-regret representative} as the minimal subset of the data containing at least one of the top-$k$ of any possible ranking function. This problem is NP-complete. We use the geometric interpretation of items to bound their ranks on ranges of functions and to utilize combinatorial geometry notions for developing effective and efficient approximation algorithms for the problem. Experiments on real datasets demonstrate that we can efficiently find small subsets with small rank-regrets

Model-driven search-based loop fusion optimization for handwritten code

The Tensor Contraction Engine (TCE) is a compiler that translates high-level, mathematical tensor contraction expressions into efficient, parallel Fortran code. A pair of optimizations in the TCE, the fusion and tiling optimizations, have proven successful for minimizing disk-to-memory traffic for dense tensor computations. While other optimizations are specific to tensor contraction expressions, these two model-driven search-based optimization algorithms could also be useful for optimizing handwritten dense array computations to minimize disk to memory traffic. In this thesis, we show how to apply the loop fusion algorithm to handwritten code in a procedural language. While in the TCE the loop fusion algorithm operated on high-level expression trees, in a standard compiler it needs to operate on abstract syntax trees. For simplicity, we use the fusion algorithm only for memory minimization instead of for minimizing disk-to-memory traffic. Also, we limit ourselves to handwritten, dense array computations in which loop bounds expressions are constant, subscript expressions are simple loop variables, and there are no common subexpressions. After type-checking, we canonicalize the abstract syntax tree to move side effects and loop-invariant code out of larger expressions. Using dataflow analysis, we then compute reaching definitions and add use-def chains to the abstract syntax tree. After undoing any partial loop fusion, a generalized loop fusion algorithm traverses the abstract syntax tree together with the use-def chains. Finally, the abstract syntax tree is rewritten to reflect the loop structure found by the loop fusion algorithm. We outline how the constraints on loop bounds expressions and array index expressions could be removed in the future using an algebraic cost model and an analysis of the iteration space using a polyhedral model

A Survey of Symbolic Execution Techniques

Many security and software testing applications require checking whether certain properties of a program hold for any possible usage scenario. For instance, a tool for identifying software vulnerabilities may need to rule out the existence of any backdoor to bypass a program's authentication. One approach would be to test the program using different, possibly random inputs. As the backdoor may only be hit for very specific program workloads, automated exploration of the space of possible inputs is of the essence. Symbolic execution provides an elegant solution to the problem, by systematically exploring many possible execution paths at the same time without necessarily requiring concrete inputs. Rather than taking on fully specified input values, the technique abstractly represents them as symbols, resorting to constraint solvers to construct actual instances that would cause property violations. Symbolic execution has been incubated in dozens of tools developed over the last four decades, leading to major practical breakthroughs in a number of prominent software reliability applications. The goal of this survey is to provide an overview of the main ideas, challenges, and solutions developed in the area, distilling them for a broad audience. The present survey has been accepted for publication at ACM Computing Surveys. If you are considering citing this survey, we would appreciate if you could use the following BibTeX entry: http://goo.gl/Hf5FvcComment: This is the authors pre-print copy. If you are considering citing this survey, we would appreciate if you could use the following BibTeX entry: http://goo.gl/Hf5Fv

Extending the Nested Parallel Model to the Nested Dataflow Model with Provably Efficient Schedulers

The nested parallel (a.k.a. fork-join) model is widely used for writing parallel programs. However, the two composition constructs, i.e. "$\parallel$" (parallel) and "$;$" (serial), are insufficient in expressing "partial dependencies" or "partial parallelism" in a program. We propose a new dataflow composition construct "$\leadsto$" to express partial dependencies in algorithms in a processor- and cache-oblivious way, thus extending the Nested Parallel (NP) model to the \emph{Nested Dataflow} (ND) model. We redesign several divide-and-conquer algorithms ranging from dense linear algebra to dynamic-programming in the ND model and prove that they all have optimal span while retaining optimal cache complexity. We propose the design of runtime schedulers that map ND programs to multicore processors with multiple levels of possibly shared caches (i.e, Parallel Memory Hierarchies) and provide theoretical guarantees on their ability to preserve locality and load balance. For this, we adapt space-bounded (SB) schedulers for the ND model. We show that our algorithms have increased "parallelizability" in the ND model, and that SB schedulers can use the extra parallelizability to achieve asymptotically optimal bounds on cache misses and running time on a greater number of processors than in the NP model. The running time for the algorithms in this paper is $O\left(\frac{\sum_{i=0}^{h-1} Q^{*}({\mathsf t};\sigma\cdot M_i)\cdot C_i}{p}\right)$, where $Q^{*}$ is the cache complexity of task ${\mathsf t}$, $C_i$ is the cost of cache miss at level-$i$ cache which is of size $M_i$, $\sigma\in(0,1)$ is a constant, and $p$ is the number of processors in an $h$-level cache hierarchy

IST Austria Technical Report

We consider the core algorithmic problems related to verification of systems with respect to three classical quantitative properties, namely, the mean-payoff property, the ratio property, and the minimum initial credit for energy property. The algorithmic problem given a graph and a quantitative property asks to compute the optimal value (the infimum value over all traces) from every node of the graph. We consider graphs with constant treewidth, and it is well-known that the control-flow graphs of most programs have constant treewidth. Let $n$ denote the number of nodes of a graph, $m$ the number of edges (for constant treewidth graphs $m=O(n)$) and $W$ the largest absolute value of the weights. Our main theoretical results are as follows. First, for constant treewidth graphs we present an algorithm that approximates the mean-payoff value within a multiplicative factor of $\epsilon$ in time $O(n \cdot \log (n/\epsilon))$ and linear space, as compared to the classical algorithms that require quadratic time. Second, for the ratio property we present an algorithm that for constant treewidth graphs works in time $O(n \cdot \log (|a\cdot b|))=O(n\cdot\log (n\cdot W))$, when the output is $\frac{a}{b}$, as compared to the previously best known algorithm with running time $O(n^2 \cdot \log (n\cdot W))$. Third, for the minimum initial credit problem we show that (i)~for general graphs the problem can be solved in $O(n^2\cdot m)$ time and the associated decision problem can be solved in $O(n\cdot m)$ time, improving the previous known $O(n^3\cdot m\cdot \log (n\cdot W))$ and $O(n^2 \cdot m)$ bounds, respectively; and (ii)~for constant treewidth graphs we present an algorithm that requires $O(n\cdot \log n)$ time, improving the previous known $O(n^4 \cdot \log (n \cdot W))$ bound. We have implemented some of our algorithms and show that they present a significant speedup on standard benchmarks

Element Distinctness, Frequency Moments, and Sliding Windows

We derive new time-space tradeoff lower bounds and algorithms for exactly computing statistics of input data, including frequency moments, element distinctness, and order statistics, that are simple to calculate for sorted data. We develop a randomized algorithm for the element distinctness problem whose time T and space S satisfy T in O (n^{3/2}/S^{1/2}), smaller than previous lower bounds for comparison-based algorithms, showing that element distinctness is strictly easier than sorting for randomized branching programs. This algorithm is based on a new time and space efficient algorithm for finding all collisions of a function f from a finite set to itself that are reachable by iterating f from a given set of starting points. We further show that our element distinctness algorithm can be extended at only a polylogarithmic factor cost to solve the element distinctness problem over sliding windows, where the task is to take an input of length 2n-1 and produce an output for each window of length n, giving n outputs in total. In contrast, we show a time-space tradeoff lower bound of T in Omega(n^2/S) for randomized branching programs to compute the number of distinct elements over sliding windows. The same lower bound holds for computing the low-order bit of F_0 and computing any frequency moment F_k, k neq 1. This shows that those frequency moments and the decision problem F_0 mod 2 are strictly harder than element distinctness. We complement this lower bound with a T in O(n^2/S) comparison-based deterministic RAM algorithm for exactly computing F_k over sliding windows, nearly matching both our lower bound for the sliding-window version and the comparison-based lower bounds for the single-window version. We further exhibit a quantum algorithm for F_0 over sliding windows with T in O(n^{3/2}/S^{1/2}). Finally, we consider the computations of order statistics over sliding windows.Comment: arXiv admin note: substantial text overlap with arXiv:1212.437