Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility is calculated, an empirical and non-invasive characterization of the inherent objectives of the software designers. By comparing off-line (a-priori) utility with on-line (deployed system) utility, we show, using a small but real ROS example, that it's possible to monitor a performance criterion and relate violations of the criterion to parts of the software. The software is then patched using automated software repair techniques and evaluated against the original off-line utility.Comment: IEEE Workshop on Assured IEEE Workshop on Assured Autonomous Systems, May, 202

Maladaptive behavior and affect regulation: A functionalist perspective.

Clinical science has benefited tremendously from taking seriously the proposition that putatively maladaptive behaviors serve psychological functions, prominently among these affect regulation (AR). These functionalist accounts have not only advanced basic clinical science, but also formed the bedrock for the development of effective treatments. Drawing heavily on reinforcement learning theory, we aim to elucidate functional relationships between maladaptive behavior and AR. Specifically, we take the view that maladaptive behaviors are frequently motivated and reinforced by hedonic AR functions (i.e., decreasing negative affect and increasing positive affect) but are also susceptible to becoming stimulus-bound habits. We review empirical evidence related to one such behavior, nonsuicidal self-injury. We close with a brief reflection on future directions. (PsycINFO Database Record (c) 2020 APA, all rights reserved)