PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning

Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot configurations, object poses, and robot trajectories. These constraints typically require specialized procedures to sample satisfying values. We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes. We provide domain-independent algorithms that reduce PDDLStream problems to a sequence of finite PDDL problems. We also introduce an algorithm that dynamically balances exploring new candidate plans and exploiting existing ones. This enables the algorithm to greedily search the space of parameter bindings to more quickly solve tightly-constrained problems as well as locally optimize to produce low-cost solutions. We evaluate our algorithms on three simulated robotic planning domains as well as several real-world robotic tasks.Comment: International Conference on Automated Planning and Scheduling (ICAPS) 202

KeyForge: Mitigating Email Breaches with Forward-Forgeable Signatures

Email breaches are commonplace, and they expose a wealth of personal, business, and political data that may have devastating consequences. The current email system allows any attacker who gains access to your email to prove the authenticity of the stolen messages to third parties -- a property arising from a necessary anti-spam / anti-spoofing protocol called DKIM. This exacerbates the problem of email breaches by greatly increasing the potential for attackers to damage the users' reputation, blackmail them, or sell the stolen information to third parties. In this paper, we introduce "non-attributable email", which guarantees that a wide class of adversaries are unable to convince any third party of the authenticity of stolen emails. We formally define non-attributability, and present two practical system proposals -- KeyForge and TimeForge -- that provably achieve non-attributability while maintaining the important protection against spam and spoofing that is currently provided by DKIM. Moreover, we implement KeyForge and demonstrate that that scheme is practical, achieving competitive verification and signing speed while also requiring 42% less bandwidth per email than RSA2048

The 1990 progress report and future plans

This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers

Artificial Intelligence Research Branch future plans

This report contains information on the activities of the Artificial Intelligence Research Branch (FIA) at NASA Ames Research Center (ARC) in 1992, as well as planned work in 1993. These activities span a range from basic scientific research through engineering development to fielded NASA applications, particularly those applications that are enabled by basic research carried out in FIA. Work is conducted in-house and through collaborative partners in academia and industry. All of our work has research themes with a dual commitment to technical excellence and applicability to NASA short, medium, and long-term problems. FIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at the Jet Propulsion Laboratory (JPL) and AI applications groups throughout all NASA centers. This report is organized along three major research themes: (1) Planning and Scheduling: deciding on a sequence of actions to achieve a set of complex goals and determining when to execute those actions and how to allocate resources to carry them out; (2) Machine Learning: techniques for forming theories about natural and man-made phenomena; and for improving the problem-solving performance of computational systems over time; and (3) Research on the acquisition, representation, and utilization of knowledge in support of diagnosis design of engineered systems and analysis of actual systems

An Abstract Machine for Unification Grammars

This work describes the design and implementation of an abstract machine, Amalia, for the linguistic formalism ALE, which is based on typed feature structures. This formalism is one of the most widely accepted in computational linguistics and has been used for designing grammars in various linguistic theories, most notably HPSG. Amalia is composed of data structures and a set of instructions, augmented by a compiler from the grammatical formalism to the abstract instructions, and a (portable) interpreter of the abstract instructions. The effect of each instruction is defined using a low-level language that can be executed on ordinary hardware. The advantages of the abstract machine approach are twofold. From a theoretical point of view, the abstract machine gives a well-defined operational semantics to the grammatical formalism. This ensures that grammars specified using our system are endowed with well defined meaning. It enables, for example, to formally verify the correctness of a compiler for HPSG, given an independent definition. From a practical point of view, Amalia is the first system that employs a direct compilation scheme for unification grammars that are based on typed feature structures. The use of amalia results in a much improved performance over existing systems. In order to test the machine on a realistic application, we have developed a small-scale, HPSG-based grammar for a fragment of the Hebrew language, using Amalia as the development platform. This is the first application of HPSG to a Semitic language.Comment: Doctoral Thesis, 96 pages, many postscript figures, uses pstricks, pst-node, psfig, fullname and a macros fil

WiFi Modul pro RC Vysílač

This thesis focuses on the design and implementation of a wireless network module embedded into a RC transmitter, specifically an ESP32 network module. In result, the transmitter should be able to connect to a local WiFi network, provide its own Access Point, and host a web server with realtime display of useful telemetry data from the transmitter.Tato bakalářská práce je zaměřená na návrh a výslednou implementaci bezdrátového síťového modulu pro RC vysílač, konkrétně modulu ESP32. Ve výsledku se bude vysílač moct připojit na místní WiFi síť, poskytovat svůj vlastní přístupový bod a hostovat server s webovou stránkou, která bude na koncovém zařízení zobrazovat aktuální informace o telemetrii z vysílače.460 - Katedra informatikydobř

Temporal meta-model framework for Enterprise Information Systems (EIS) development

This thesis has developed a Temporal Meta-Model Framework for semi-automated Enterprise System Development, which can help drastically reduce the time and cost to develop, deploy and maintain Enterprise Information Systems throughout their lifecycle. It proposes that the analysis and requirements gathering can also perform the bulk of the design phase, stored and available in a suitable model which would then be capable of automated execution with the availability of a set of specific runtime components

From Static and Dynamic Websites to Static Site Generators

Dünaamilised sisuhaldustarkvara paketid, näiteks WordPress, on kasutusel peaaegu pooltel maailma aktiivsetest veebilehtedest. Paljudel neist lehtedest on peamiselt eelloodud sisu – näiteks blogiartiklid, uudised ja isiklikud või ettevõtete veebilehed. Sellise iseloomuga veebilehtede esitamine läbi igakordse dünaamilise genereerimise ei lisa mingit väärtust võrreldes sellega, kui lehed oleksid eelgenereeritud ehk staatilised.\n\rKäesolevas töös on analüüsitud staatiliste ja dünaamiliste veebilehtede põhimõttelisi erinevusi. On leitud, et staatilised lehed omavad sisulisi eeliseid dünaamiliste ees – näiteks turvalisus ja kiirus – kuid dünaamiliste veebilehtede eelised seisnevad peamiselt küpsemate tööriistade olemasolus.\n\rTöös on võrreldud kolme populaarseimat staatilise veebilehe generaatorit – Jekyll’i, Hexo’t ja Hugo’t. On leitud, et Hexo sobib hästi blogimiseks, kuid Jekyll ja Hugo ka universaalsete veebilehtede loomiseks. Hugo’t tasub eelistada suurte veebilehtede puhul tänu selle oluliselt suuremale genereerimiskiirusele, kuid peab arvestama selle keerulisema laiendatavusega. \n\rStaatiliste veebilehtede ökosüsteemi on põgusalt tutvustatud ning toodud välja vahendeid lehtede majutamiseks, graafilisi kasutajaliideseid jmt. On pakutud ideid, mida tasuks staatiliste veebilehtede tööriistades edasi arendada.Dynamic Content Management Systems like WordPress are used on almost half of the world’s active websites. As many of these sites are content-driven, like blogs, news sites, personal, company and organisation websites, rendering them dynamically does not offer any value compared to if they were static. \n\rParadigmatic differences between static and dynamic websites are analysed and the bene-fits of each described. It is found that for static-by-nature websites, static approach has core benefits such as security and end-user performance, as benefits of dynamic platforms come mainly from the more mature toolset.\n\rFeatures and usability of three popular Static Site Generators – Jekyll, Hexo and Hugo are analysed. It is found that Jekyll and Hugo are more suitable for universal websites, as Hexo is oriented for blogging. Hugo should be preferred for a large website, as its site generation speed is significantly faster than Jekyll’s. However, the extensibility of Hugo is more complicated. \n\rAdditional tools in the growing static websites ecosystem are pointed out. Some ways of combining these to create a complete toolset are given and ideas for future development proposed