Unsupervised Learning of Depth and Ego-Motion from Video

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the task of view synthesis as the supervisory signal. The networks are thus coupled via the view synthesis objective during training, but can be applied independently at test time. Empirical evaluation on the KITTI dataset demonstrates the effectiveness of our approach: 1) monocular depth performing comparably with supervised methods that use either ground-truth pose or depth for training, and 2) pose estimation performing favorably with established SLAM systems under comparable input settings.Comment: Accepted to CVPR 2017. Project webpage: https://people.eecs.berkeley.edu/~tinghuiz/projects/SfMLearner

Simplifying Deep-Learning-Based Model for Code Search

To accelerate software development, developers frequently search and reuse existing code snippets from a large-scale codebase, e.g., GitHub. Over the years, researchers proposed many information retrieval (IR) based models for code search, which match keywords in query with code text. But they fail to connect the semantic gap between query and code. To conquer this challenge, Gu et al. proposed a deep-learning-based model named DeepCS. It jointly embeds method code and natural language description into a shared vector space, where methods related to a natural language query are retrieved according to their vector similarities. However, DeepCS' working process is complicated and time-consuming. To overcome this issue, we proposed a simplified model CodeMatcher that leverages the IR technique but maintains many features in DeepCS. Generally, CodeMatcher combines query keywords with the original order, performs a fuzzy search on name and body strings of methods, and returned the best-matched methods with the longer sequence of used keywords. We verified its effectiveness on a large-scale codebase with about 41k repositories. Experimental results showed the simplified model CodeMatcher outperforms DeepCS by 97% in terms of MRR (a widely used accuracy measure for code search), and it is over 66 times faster than DeepCS. Besides, comparing with the state-of-the-art IR-based model CodeHow, CodeMatcher also improves the MRR by 73%. We also observed that: fusing the advantages of IR-based and deep-learning-based models is promising because they compensate with each other by nature; improving the quality of method naming helps code search, since method name plays an important role in connecting query and code

Programming Not Only by Example

In recent years, there has been tremendous progress in automated synthesis techniques that are able to automatically generate code based on some intent expressed by the programmer. A major challenge for the adoption of synthesis remains in having the programmer communicate their intent. When the expressed intent is coarse-grained (for example, restriction on the expected type of an expression), the synthesizer often produces a long list of results for the programmer to choose from, shifting the heavy-lifting to the user. An alternative approach, successfully used in end-user synthesis is programming by example (PBE), where the user leverages examples to interactively and iteratively refine the intent. However, using only examples is not expressive enough for programmers, who can observe the generated program and refine the intent by directly relating to parts of the generated program. We present a novel approach to interacting with a synthesizer using a granular interaction model. Our approach employs a rich interaction model where (i) the synthesizer decorates a candidate program with debug information that assists in understanding the program and identifying good or bad parts, and (ii) the user is allowed to provide feedback not only on the expected output of a program, but also on the underlying program itself. That is, when the user identifies a program as (partially) correct or incorrect, they can also explicitly indicate the good or bad parts, to allow the synthesizer to accept or discard parts of the program instead of discarding the program as a whole. We show the value of our approach in a controlled user study. Our study shows that participants have strong preference to using granular feedback instead of examples, and are able to provide granular feedback much faster