Empirical Evaluation of Mutation-based Test Prioritization Techniques

We propose a new test case prioritization technique that combines both mutation-based and diversity-based approaches. Our diversity-aware mutation-based technique relies on the notion of mutant distinguishment, which aims to distinguish one mutant's behavior from another, rather than from the original program. We empirically investigate the relative cost and effectiveness of the mutation-based prioritization techniques (i.e., using both the traditional mutant kill and the proposed mutant distinguishment) with 352 real faults and 553,477 developer-written test cases. The empirical evaluation considers both the traditional and the diversity-aware mutation criteria in various settings: single-objective greedy, hybrid, and multi-objective optimization. The results show that there is no single dominant technique across all the studied faults. To this end, \rev{we we show when and the reason why each one of the mutation-based prioritization criteria performs poorly, using a graphical model called Mutant Distinguishment Graph (MDG) that demonstrates the distribution of the fault detecting test cases with respect to mutant kills and distinguishment

Learning Task Priorities from Demonstrations

Bimanual operations in humanoids offer the possibility to carry out more than one manipulation task at the same time, which in turn introduces the problem of task prioritization. We address this problem from a learning from demonstration perspective, by extending the Task-Parameterized Gaussian Mixture Model (TP-GMM) to Jacobian and null space structures. The proposed approach is tested on bimanual skills but can be applied in any scenario where the prioritization between potentially conflicting tasks needs to be learned. We evaluate the proposed framework in: two different tasks with humanoids requiring the learning of priorities and a loco-manipulation scenario, showing that the approach can be exploited to learn the prioritization of multiple tasks in parallel.Comment: Accepted for publication at the IEEE Transactions on Robotic