Adapting Quality Assurance to Adaptive Systems: The Scenario Coevolution Paradigm

From formal and practical analysis, we identify new challenges that self-adaptive systems pose to the process of quality assurance. When tackling these, the effort spent on various tasks in the process of software engineering is naturally re-distributed. We claim that all steps related to testing need to become self-adaptive to match the capabilities of the self-adaptive system-under-test. Otherwise, the adaptive system's behavior might elude traditional variants of quality assurance. We thus propose the paradigm of scenario coevolution, which describes a pool of test cases and other constraints on system behavior that evolves in parallel to the (in part autonomous) development of behavior in the system-under-test. Scenario coevolution offers a simple structure for the organization of adaptive testing that allows for both human-controlled and autonomous intervention, supporting software engineering for adaptive systems on a procedural as well as technical level.Comment: 17 pages, published at ISOLA 201

Values-Based Network Leadership in an Interconnected World

This paper describes values-based network leadership conceptually aligned to systems science, principles of networks, moral and ethical development, and connectivism. Values-based network leadership places importance on a leader\u27s repertoire of skills for stewarding a culture of purpose and calling among distributed teams in a globally interconnected world. Values-based network leadership is applicable for any leader needing to align interdependent effort by networks of teams operating across virtual and physical environments to achieve a collective purpose. An open-learning ecosystem is also described to help leaders address the development of strengths associated with building trust and relationships across networks of teams, aligned under a higher purpose and calling, possessing moral fiber, resilient in the face of complexity, reflectively competent to adapt as interconnected efforts evolve and change within multicultural environments, and able to figure out new ways to do something never done before

von Neumann-Morgenstern and Savage Theorems for Causal Decision Making

Causal thinking and decision making under uncertainty are fundamental aspects of intelligent reasoning. Decision making under uncertainty has been well studied when information is considered at the associative (probabilistic) level. The classical Theorems of von Neumann-Morgenstern and Savage provide a formal criterion for rational choice using purely associative information. Causal inference often yields uncertainty about the exact causal structure, so we consider what kinds of decisions are possible in those conditions. In this work, we consider decision problems in which available actions and consequences are causally connected. After recalling a previous causal decision making result, which relies on a known causal model, we consider the case in which the causal mechanism that controls some environment is unknown to a rational decision maker. In this setting we state and prove a causal version of Savage's Theorem, which we then use to develop a notion of causal games with its respective causal Nash equilibrium. These results highlight the importance of causal models in decision making and the variety of potential applications.Comment: Submitted to Journal of Causal Inferenc

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been developed to model the dynamics of these complex scenes; however, relying on approximation techniques, their simulation often deviates from real-world physics, especially in the long term. In this paper, we propose to learn a particle-based simulator for complex control tasks. Combining learning with particle-based systems brings in two major benefits: first, the learned simulator, just like other particle-based systems, acts widely on objects of different materials; second, the particle-based representation poses strong inductive bias for learning: particles of the same type have the same dynamics within. This enables the model to quickly adapt to new environments of unknown dynamics within a few observations. We demonstrate robots achieving complex manipulation tasks using the learned simulator, such as manipulating fluids and deformable foam, with experiments both in simulation and in the real world. Our study helps lay the foundation for robot learning of dynamic scenes with particle-based representations.Comment: Accepted to ICLR 2019. Project Page: http://dpi.csail.mit.edu Video: https://www.youtube.com/watch?v=FrPpP7aW3L