Spatial and Temporal Learning in Robotic Pick-and-Place Domains via Demonstrations and Observations

Traditional methods for Learning from Demonstration require users to train the robot through the entire process, or to provide feedback throughout a given task. These previous methods have proved to be successful in a selection of robotic domains; however, many are limited by the ability of the user to effectively demonstrate the task. In many cases, noisy demonstrations or a failure to understand the underlying model prevent these methods from working with a wider range of non-expert users. My insight is that in many mobile pick-and-place domains, teaching is done at a too fine grained level. In many such tasks, users are solely concerned with the end goal. This implies that the complexity and time associated with training and teaching robots through the entirety of the task is unnecessary. The robotic agent needs to know (1) a probable search location to retrieve the task\u27s objects and (2) how to arrange the items to complete the task. This thesis work develops new techniques for obtaining such data from high-level spatial and temporal observations and demonstrations which can later be applied in new, unseen environments. This thesis makes the following contributions: (1) This work is built on a crowd robotics platform and, as such, we contribute the development of efficient data streaming techniques to further these capabilities. By doing so, users can more easily interact with robots on a number of platforms. (2) The presentation of new algorithms that can learn pick-and-place tasks from a large corpus of goal templates. My work contributes algorithms that produce a metric which ranks the appropriate frame of reference for each item based solely on spatial demonstrations. (3) An algorithm which can enhance the above templates with ordering constraints using coarse and noisy temporal information. Such a method eliminates the need for a user to explicitly specify such constraints and searches for an optimal ordering and placement of items. (4) A novel algorithm which is able to learn probable search locations of objects based solely on sparsely made temporal observations. For this, we introduce persistence models of objects customized to a user\u27s environment

Improving Computer Network Operations Through Automated Interpretation of State

Networked systems today are hyper-scaled entities that provide core functionality for distributed services and applications spanning personal, business, and government use. It is critical to maintain correct operation of these networks to avoid adverse business outcomes. The advent of programmable networks has provided much needed fine-grained network control, enabling providers and operators alike to build some innovative networking architectures and solutions. At the same time, they have given rise to new challenges in network management. These architectures, coupled with a multitude of devices, protocols, virtual overlays on top of physical data-plane etc. make network management a highly challenging task. Existing network management methodologies have not evolved at the same pace as the technologies and architectures. Current network management practices do not provide adequate solutions for highly dynamic, programmable environments. We have a long way to go in developing management methodologies that can meaningfully contribute to networks becoming self-healing entities. The goal of my research is to contribute to the design and development of networks towards transforming them into self-healing entities. Network management includes a multitude of tasks, not limited to diagnosis and troubleshooting, but also performance engineering and tuning, security analysis etc. This research explores novel methods of utilizing network state to enhance networking capabilities. It is constructed around hypotheses based on careful analysis of practical deficiencies in the field. I try to generate real-world impact with my research by tackling problems that are prevalent in deployed networks, and that bear practical relevance to the current state of networking. The overarching goal of this body of work is to examine various approaches that could help enhance network management paradigms, providing administrators with a better understanding of the underlying state of the network, thus leading to more informed decision-making. The research looks into two distinct areas of network management, troubleshooting and routing, presenting novel approaches to accomplishing certain goals in each of these areas, demonstrating that they can indeed enhance the network management experience