On Safe Folding

In [3] a general fold operation has been introduced for definite programs wrt computed answer substitution semantics. It differs from the fold operation defined by Tamaki and Sato in [26,25] because its application does not depend on the transformation history. This paper extends the results in [3] by giving a more powerful sufficient condition for the preservation of computed answer substitutions. Such a condition is meant to deal with the critical case when the atom introduced by folding depends on the clause to which the fold applies. The condition compares the dependency degree between the fonding atom and the folded clause, with the semantic delay between the folding atom and the ones to be folded. The result is also extended to a more general replacement operation, by showing that it can be decomposed into a sequence of definition, general folding and unfolding operations

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201

Sequential Composition in the Presence of Intermediate Termination (Extended Abstract)

The standard operational semantics of the sequential composition operator gives rise to unbounded branching and forgetfulness when transparent process expressions are put in sequence. Due to transparency, the correspondence between context-free and pushdown processes fails modulo bisimilarity, and it is not clear how to specify an always terminating half counter. We propose a revised operational semantics for the sequential composition operator in the context of intermediate termination. With the revised operational semantics, we eliminate transparency, allowing us to establish a close correspondence between context-free processes and pushdown processes. Moreover, we prove the reactive Turing powerfulness of TCP with iteration and nesting with the revised operational semantics for sequential composition.Comment: In Proceedings EXPRESS/SOS 2017, arXiv:1709.00049. arXiv admin note: substantial text overlap with arXiv:1706.0840