Learning Tractable Probabilistic Models for Fault Localization

In recent years, several probabilistic techniques have been applied to various debugging problems. However, most existing probabilistic debugging systems use relatively simple statistical models, and fail to generalize across multiple programs. In this work, we propose Tractable Fault Localization Models (TFLMs) that can be learned from data, and probabilistically infer the location of the bug. While most previous statistical debugging methods generalize over many executions of a single program, TFLMs are trained on a corpus of previously seen buggy programs, and learn to identify recurring patterns of bugs. Widely-used fault localization techniques such as TARANTULA evaluate the suspiciousness of each line in isolation; in contrast, a TFLM defines a joint probability distribution over buggy indicator variables for each line. Joint distributions with rich dependency structure are often computationally intractable; TFLMs avoid this by exploiting recent developments in tractable probabilistic models (specifically, Relational SPNs). Further, TFLMs can incorporate additional sources of information, including coverage-based features such as TARANTULA. We evaluate the fault localization performance of TFLMs that include TARANTULA scores as features in the probabilistic model. Our study shows that the learned TFLMs isolate bugs more effectively than previous statistical methods or using TARANTULA directly.Comment: Fifth International Workshop on Statistical Relational AI (StaR-AI 2015

Approximation Complexity of Maximum A Posteriori Inference in Sum-Product Networks

We discuss the computational complexity of approximating maximum a posteriori inference in sum-product networks. We first show NP-hardness in trees of height two by a reduction from maximum independent set; this implies non-approximability within a sublinear factor. We show that this is a tight bound, as we can find an approximation within a linear factor in networks of height two. We then show that, in trees of height three, it is NP-hard to approximate the problem within a factor $2^{f(n)}$ for any sublinear function $f$ of the size of the input $n$. Again, this bound is tight, as we prove that the usual max-product algorithm finds (in any network) approximations within factor $2^{c \cdot n}$ for some constant $c < 1$. Last, we present a simple algorithm, and show that it provably produces solutions at least as good as, and potentially much better than, the max-product algorithm. We empirically analyze the proposed algorithm against max-product using synthetic and realistic networks.Comment: 18 page

Reset-free Trial-and-Error Learning for Robot Damage Recovery

The high probability of hardware failures prevents many advanced robots (e.g., legged robots) from being confidently deployed in real-world situations (e.g., post-disaster rescue). Instead of attempting to diagnose the failures, robots could adapt by trial-and-error in order to be able to complete their tasks. In this situation, damage recovery can be seen as a Reinforcement Learning (RL) problem. However, the best RL algorithms for robotics require the robot and the environment to be reset to an initial state after each episode, that is, the robot is not learning autonomously. In addition, most of the RL methods for robotics do not scale well with complex robots (e.g., walking robots) and either cannot be used at all or take too long to converge to a solution (e.g., hours of learning). In this paper, we introduce a novel learning algorithm called "Reset-free Trial-and-Error" (RTE) that (1) breaks the complexity by pre-generating hundreds of possible behaviors with a dynamics simulator of the intact robot, and (2) allows complex robots to quickly recover from damage while completing their tasks and taking the environment into account. We evaluate our algorithm on a simulated wheeled robot, a simulated six-legged robot, and a real six-legged walking robot that are damaged in several ways (e.g., a missing leg, a shortened leg, faulty motor, etc.) and whose objective is to reach a sequence of targets in an arena. Our experiments show that the robots can recover most of their locomotion abilities in an environment with obstacles, and without any human intervention.Comment: 18 pages, 16 figures, 3 tables, 6 pseudocodes/algorithms, video at https://youtu.be/IqtyHFrb3BU, code at https://github.com/resibots/chatzilygeroudis_2018_rt

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as it executes any number of sub-tasks. As robots continue their quest of functioning in unstructured environments, it is imperative they understand what is it that they are actually doing to render them more robust. This work investigates the modeling ability of Bayesian nonparametric techniques on Markov Switching Process to learn complex dynamics typical in robot contact tasks. We study whether the Markov switching process, together with Bayesian priors can outperform the modeling ability of its counterparts: an HMM with Bayesian priors and without. The work was tested in a snap assembly task characterized by high elastic forces. The task consists of an insertion subtask with very complex dynamics. Our approach showed a stronger ability to generalize and was able to better model the subtask with complex dynamics in a computationally efficient way. The modeling technique is also used to learn a growing library of robot skills, one that when integrated with low-level control allows for robot online decision making.Comment: final version submitted to humanoids 201

Coarse-to-Fine Lifted MAP Inference in Computer Vision

There is a vast body of theoretical research on lifted inference in probabilistic graphical models (PGMs). However, few demonstrations exist where lifting is applied in conjunction with top of the line applied algorithms. We pursue the applicability of lifted inference for computer vision (CV), with the insight that a globally optimal (MAP) labeling will likely have the same label for two symmetric pixels. The success of our approach lies in efficiently handling a distinct unary potential on every node (pixel), typical of CV applications. This allows us to lift the large class of algorithms that model a CV problem via PGM inference. We propose a generic template for coarse-to-fine (C2F) inference in CV, which progressively refines an initial coarsely lifted PGM for varying quality-time trade-offs. We demonstrate the performance of C2F inference by developing lifted versions of two near state-of-the-art CV algorithms for stereo vision and interactive image segmentation. We find that, against flat algorithms, the lifted versions have a much superior anytime performance, without any loss in final solution quality.Comment: Published in IJCAI 201