Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Synthesizing Program Input Grammars

We present an algorithm for synthesizing a context-free grammar encoding the language of valid program inputs from a set of input examples and blackbox access to the program. Our algorithm addresses shortcomings of existing grammar inference algorithms, which both severely overgeneralize and are prohibitively slow. Our implementation, GLADE, leverages the grammar synthesized by our algorithm to fuzz test programs with structured inputs. We show that GLADE substantially increases the incremental coverage on valid inputs compared to two baseline fuzzers

Answering Complex Questions Using Open Information Extraction

While there has been substantial progress in factoid question-answering (QA), answering complex questions remains challenging, typically requiring both a large body of knowledge and inference techniques. Open Information Extraction (Open IE) provides a way to generate semi-structured knowledge for QA, but to date such knowledge has only been used to answer simple questions with retrieval-based methods. We overcome this limitation by presenting a method for reasoning with Open IE knowledge, allowing more complex questions to be handled. Using a recently proposed support graph optimization framework for QA, we develop a new inference model for Open IE, in particular one that can work effectively with multiple short facts, noise, and the relational structure of tuples. Our model significantly outperforms a state-of-the-art structured solver on complex questions of varying difficulty, while also removing the reliance on manually curated knowledge.Comment: Accepted as short paper at ACL 201

A Bootstrapping architecture for time expression recognition in unlabelled corpora via syntactic-semantic patterns

In this paper we describe a semi-supervised approach to the extraction of time expression mentions in large unlabelled corpora based on bootstrapping. Bootstrapping techniques rely on a relatively small amount of initial human-supplied examples (termed “seeds”) of the type of entity or concept to be learned, in order to capture an initial set of patterns or rules from the unlabelled text that extract the supplied data. In turn, the learned patterns are employed to find new potential examples, and the process is repeated to grow the set of patterns and (optionally) the set of examples. In order to prevent the learned pattern set from producing spurious results, it becomes essential to implement a ranking and selection procedure to filter out “bad” patterns and, depending on the case, new candidate examples. Therefore, the type of patterns employed (knowledge representation) as well as the ranking and selection procedure are paramount to the quality of the results. We present a complete bootstrapping algorithm for recognition of time expressions, with a special emphasis on the type of patterns used (a combination of semantic and morpho- syntantic elements) and the ranking and selection criteria. Bootstrap- ping techniques have been previously employed with limited success for several NLP problems, both of recognition and classification, but their application to time expression recognition is, to the best of our knowledge, novel. As of this writing, the described architecture is in the final stages of implementation, with experimention and evalution being already underway.Postprint (published version

Automated Game Design Learning

While general game playing is an active field of research, the learning of game design has tended to be either a secondary goal of such research or it has been solely the domain of humans. We propose a field of research, Automated Game Design Learning (AGDL), with the direct purpose of learning game designs directly through interaction with games in the mode that most people experience games: via play. We detail existing work that touches the edges of this field, describe current successful projects in AGDL and the theoretical foundations that enable them, point to promising applications enabled by AGDL, and discuss next steps for this exciting area of study. The key moves of AGDL are to use game programs as the ultimate source of truth about their own design, and to make these design properties available to other systems and avenues of inquiry.Comment: 8 pages, 2 figures. Accepted for CIG 201

Information Extraction, Data Integration, and Uncertain Data Management: The State of The Art

Information Extraction, data Integration, and uncertain data management are different areas of research that got vast focus in the last two decades. Many researches tackled those areas of research individually. However, information extraction systems should have integrated with data integration methods to make use of the extracted information. Handling uncertainty in extraction and integration process is an important issue to enhance the quality of the data in such integrated systems. This article presents the state of the art of the mentioned areas of research and shows the common grounds and how to integrate information extraction and data integration under uncertainty management cover