A new approach to reversible computing with applications to speculative parallel simulation

In this thesis, we propose an innovative approach to reversible computing that shifts the focus from the operations to the memory outcome of a generic program. This choice allows us to overcome some typical challenges of "plain" reversible computing. Our methodology is to instrument a generic application with the help of an instrumentation tool, namely Hijacker, which we have redesigned and developed for the purpose. Through compile-time instrumentation, we enhance the program's code to keep track of the memory trace it produces until the end. Regardless of the complexity behind the generation of each computational step of the program, we can build inverse machine instructions just by inspecting the instruction that is attempting to write some value to memory. Therefore from this information, we craft an ad-hoc instruction that conveys this old value and the knowledge of where to replace it. This instruction will become part of a more comprehensive structure, namely the reverse window. Through this structure, we have sufficient information to cancel all the updates done by the generic program during its execution. In this writing, we will discuss the structure of the reverse window, as the building block for the whole reversing framework we designed and finally realized. Albeit we settle our solution in the specific context of the parallel discrete event simulation (PDES) adopting the Time Warp synchronization protocol, this framework paves the way for further general-purpose development and employment. We also present two additional innovative contributions coming from our innovative reversibility approach, both of them still embrace traditional state saving-based rollback strategy. The first contribution aims to harness the advantages of both the possible approaches. We implement the rollback operation combining state saving together with our reversible support through a mathematical model. This model enables the system to choose in autonomicity the best rollback strategy, by the mutable runtime dynamics of programs. The second contribution explores an orthogonal direction, still related to reversible computing aspects. In particular, we will address the problem of reversing shared libraries. Indeed, leading from their nature, shared objects are visible to the whole system and so does every possible external modification of their code. As a consequence, it is not possible to instrument them without affecting other unaware applications. We propose a different method to deal with the instrumentation of shared objects. All our innovative proposals have been assessed using the last generation of the open source ROOT-Sim PDES platform, where we integrated our solutions. ROOT-Sim is a C-based package implementing a general purpose simulation environment based on the Time Warp synchronization protocol

Automated Failure Explanation Through Execution Comparison

When fixing a bug in software, developers must build an understanding or explanation of the bug and how the bug flows through a program. The effort that developers must put into building this explanation is costly and laborious. Thus, developers need tools that can assist them in explaining the behavior of bugs. Dynamic slicing is one technique that can effectively show how a bug propagates through an execution up to the point where a program fails. However, dynamic slices are large because they do not just explain the bug itself; they include extra information that explains any observed behavior that might be connected to the bug. Thus, the explanation of the bug is hidden within this other tangentially related information. This dissertation addresses the problem and shows how a failing execution and a correct execution may be compared in order to construct explanations that include only information about what caused the bug. As a result, these automated explanations are significantly more concise than those explanations produced by existing dynamic slicing techniques. To enable the comparison of executions, we develop new techniques for dynamic analyses that identify the commonalities and differences between executions. First, we devise and implement the notion of a point within an execution that may exist across multiple executions. We also note that comparing executions involves comparing the state or variables and their values that exist within the executions at different execution points. Thus, we design an approach for identifying the locations of variables in different executions so that their values may be compared. Leveraging these tools, we design a system for identifying the behaviors within an execution that can be blamed for a bug and that together compose an explanation for the bug. These explanations are up to two orders of magnitude smaller than those produced by existing state of the art techniques. We also examine how different choices of a correct execution for comparison can impact the practicality or potential quality of the explanations produced via our system

Sense, Think, Grasp: A study on visual and tactile information processing for autonomous manipulation

Interacting with the environment using hands is one of the distinctive abilities of humans with respect to other species. This aptitude reflects on the crucial role played by objects\u2019 manipulation in the world that we have shaped for us. With a view of bringing robots outside industries for supporting people during everyday life, the ability of manipulating objects autonomously and in unstructured environments is therefore one of the basic skills they need. Autonomous manipulation is characterized by great complexity especially regarding the processing of sensors information to perceive the surrounding environment. Humans rely on vision for wideranging tridimensional information, prioprioception for the awareness of the relative position of their own body in the space and the sense of touch for local information when physical interaction with objects happens. The study of autonomous manipulation in robotics aims at transferring similar perceptive skills to robots so that, combined with state of the art control techniques, they could be able to achieve similar performance in manipulating objects. The great complexity of this task makes autonomous manipulation one of the open problems in robotics that has been drawing increasingly the research attention in the latest years. In this work of Thesis, we propose possible solutions to some key components of autonomous manipulation, focusing in particular on the perception problem and testing the developed approaches on the humanoid robotic platform iCub. When available, vision is the first source of information to be processed for inferring how to interact with objects. The object modeling and grasping pipeline based on superquadric functions we designed meets this need, since it reconstructs the object 3D model from partial point cloud and computes a suitable hand pose for grasping the object. Retrieving objects information with touch sensors only is a relevant skill that becomes crucial when vision is occluded, as happens for instance during physical interaction with the object. We addressed this problem with the design of a novel tactile localization algorithm, named Memory Unscented Particle Filter, capable of localizing and recognizing objects relying solely on 3D contact points collected on the object surface. Another key point of autonomous manipulation we report on in this Thesis work is bi-manual coordination. The execution of more advanced manipulation tasks in fact might require the use and coordination of two arms. Tool usage for instance often requires a proper in-hand object pose that can be obtained via dual-arm re-grasping. In pick-and-place tasks sometimes the initial and target position of the object do not belong to the same arm workspace, then requiring to use one hand for lifting the object and the other for locating it in the new position. At this regard, we implemented a pipeline for executing the handover task, i.e. the sequences of actions for autonomously passing an object from one robot hand on to the other. The contributions described thus far address specific subproblems of the more complex task of autonomous manipulation. This actually differs from what humans do, in that humans develop their manipulation skills by learning through experience and trial-and-error strategy. Aproper mathematical formulation for encoding this learning approach is given by Deep Reinforcement Learning, that has recently proved to be successful in many robotics applications. For this reason, in this Thesis we report also on the six month experience carried out at Berkeley Artificial Intelligence Research laboratory with the goal of studying Deep Reinforcement Learning and its application to autonomous manipulation

Mario Santamaria’s Trolling Google Art Project: Critical Explorations in Google’s Museum Views

Closures and the demands of physical distancing following from the Covid-19 pandemic resulted in a wave of promotion positioning virtual tours (360-degree virtual environments navigated using first-person user interfaces) as potent substitutes for local, physical interactions with museums, objects, and collections. While there is an existing body of writing (most often aligned with ‘institutional critique’) engaging with practices of museums and galleries, little scholarship yet exists on virtual tours or Google’s significant role in their purveyance. This MRP explores the sociopolitical and affective implications of museum spectatorship as reconfigured within Google Museum Views’ virtual tours. Through an exploration of Mario Santamaria’s Trolling Google Art Project (2013-ongoing), Google Museum Views is analyzed from three angles: 1) the platform’s relationship to physical architectures, 2) the platform’s configuration of user subjectivities, and 3) the platform’s challenges to the public role of the museum. Founded in critical theory and museum studies and drawing on a multidisciplinary array of texts, this MRP argues the importance of critical engagement with the ways that Google’s virtual museum environments perpetuate capitalist ideologies already recognized as troubling their physical counterparts