Automatic Service Composition. Models, Techniques and Tools.

Maurizio Lenzerini, Giuseppe De Giacomo, Massimo Mecell

Learning Options via Compression

Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks. Skill learning offers one way of identifying these regularities by decomposing pre-collected experiences into a sequence of skills. A popular approach to skill learning is maximizing the likelihood of the pre-collected experience with latent variable models, where the latent variables represent the skills. However, there are often many solutions that maximize the likelihood equally well, including degenerate solutions. To address this underspecification, we propose a new objective that combines the maximum likelihood objective with a penalty on the description length of the skills. This penalty incentivizes the skills to maximally extract common structures from the experiences. Empirically, our objective learns skills that solve downstream tasks in fewer samples compared to skills learned from only maximizing likelihood. Further, while most prior works in the offline multi-task setting focus on tasks with low-dimensional observations, our objective can scale to challenging tasks with high-dimensional image observations.Comment: Published at NeurIPS 202

An approach to task representation based on object features and affordances

Multi-purpose service robots must execute their tasks reliably in different situations, as well as learn from humans and explain their plans to them. We address these issues by introducing a knowledge representation scheme to facilitate skill generalization and explainability. This scheme allows representing knowledge of the robot’s understanding of a scene and performed task. We also present techniques for extracting this knowledge from raw data. Such knowledge representation and extraction methods have not been explored adequately in previous research. Our approach does not require any prior knowledge or 3D models of the objects involved. Moreover, the representation scheme is easy to understand for humans. The system is modular so that new recognition or reasoning routines can be added without changing the basic architecture. We developed a computer vision system and a task reasoning module that works with our knowledge representation. The efficacy of our approach is demonstrated with two different tasks: hanging items on pegs and stacking one item on another. A formalization of our knowledge representation scheme is presented, showing how the system is capable of learning from a few demonstrations

Linguistic Representation of Problem Solving Processes in Unaided Object Assembly

This thesis investigates the linguistic representation of problem solving processes in data recorded during unaided object assembly. It combines traditional approaches of analyzing verbal protocols with the recent approach of Cognitive Discourse Analysis

The Mechanics of Embodiment: A Dialogue on Embodiment and Computational Modeling

Embodied theories are increasingly challenging traditional views of cognition by arguing that conceptual representations that constitute our knowledge are grounded in sensory and motor experiences, and processed at this sensorimotor level, rather than being represented and processed abstractly in an amodal conceptual system. Given the established empirical foundation, and the relatively underspecified theories to date, many researchers are extremely interested in embodied cognition but are clamouring for more mechanistic implementations. What is needed at this stage is a push toward explicit computational models that implement sensory-motor grounding as intrinsic to cognitive processes. In this article, six authors from varying backgrounds and approaches address issues concerning the construction of embodied computational models, and illustrate what they view as the critical current and next steps toward mechanistic theories of embodiment. The first part has the form of a dialogue between two fictional characters: Ernest, the �experimenter�, and Mary, the �computational modeller�. The dialogue consists of an interactive sequence of questions, requests for clarification, challenges, and (tentative) answers, and touches the most important aspects of grounded theories that should inform computational modeling and, conversely, the impact that computational modeling could have on embodied theories. The second part of the article discusses the most important open challenges for embodied computational modelling

Behavioral types in programming languages

A recent trend in programming language research is to use behav- ioral type theory to ensure various correctness properties of large- scale, communication-intensive systems. Behavioral types encompass concepts such as interfaces, communication protocols, contracts, and choreography. The successful application of behavioral types requires a solid understanding of several practical aspects, from their represen- tation in a concrete programming language, to their integration with other programming constructs such as methods and functions, to de- sign and monitoring methodologies that take behaviors into account. This survey provides an overview of the state of the art of these aspects, which we summarize as the pragmatics of behavioral types

Computational Soundness for Dalvik Bytecode

Automatically analyzing information flow within Android applications that rely on cryptographic operations with their computational security guarantees imposes formidable challenges that existing approaches for understanding an app's behavior struggle to meet. These approaches do not distinguish cryptographic and non-cryptographic operations, and hence do not account for cryptographic protections: f(m) is considered sensitive for a sensitive message m irrespective of potential secrecy properties offered by a cryptographic operation f. These approaches consequently provide a safe approximation of the app's behavior, but they mistakenly classify a large fraction of apps as potentially insecure and consequently yield overly pessimistic results. In this paper, we show how cryptographic operations can be faithfully included into existing approaches for automated app analysis. To this end, we first show how cryptographic operations can be expressed as symbolic abstractions within the comprehensive Dalvik bytecode language. These abstractions are accessible to automated analysis, and they can be conveniently added to existing app analysis tools using minor changes in their semantics. Second, we show that our abstractions are faithful by providing the first computational soundness result for Dalvik bytecode, i.e., the absence of attacks against our symbolically abstracted program entails the absence of any attacks against a suitable cryptographic program realization. We cast our computational soundness result in the CoSP framework, which makes the result modular and composable.Comment: Technical report for the ACM CCS 2016 conference pape