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Recent advances in robot skill learning have unlocked the potential to construct task-agnostic skill libraries, facilitating the seamless sequencing of multiple simple manipulation primitives (aka. skills) to tackle significantly more complex tasks. Nevertheless, determining the optimal sequence for independently learned skills remains an open problem, particularly when the objective is given solely in terms of the final geometric configuration rather than a symbolic goal. To address this challenge, we propose Logic-Skill Programming (LSP), an optimization-based approach that sequences independently learned skills to solve long-horizon tasks. We formulate a first-order extension of a mathematical program to optimize the overall cumulative reward of all skills within a plan, abstracted by the sum of value functions. To solve such programs, we leverage the use of Tensor Train to construct the value function space, and rely on alternations between symbolic search and skill value optimization to find the appropriate skill skeleton and optimal subgoal sequence. Experimental results indicate that the obtained value functions provide a superior approximation of cumulative rewards compared to state-of-the-art Reinforcement Learning methods. Furthermore, we validate LSP in three manipulation domains, encompassing both prehensile and non-prehensile primitives. The results demonstrate its capability to identify the optimal solution over the full logic and geometric path. The real-robot experiments showcase the effectiveness of our approach to cope with contact uncertainty and external disturbances in the real world.

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning techniques to model and control systems that are difficult to model using first principles. However, providing safety assurances for such systems remains difficult, partially due to the uncertainty in the learned model. In this work, we aim to provide safety assurances for systems whose dynamics are not readily derived from first principles and, hence, are more advantageous to be learned using deep learning techniques. Given the system of interest and safety constraints, we learn an ensemble model of the system dynamics from data. Leveraging ensemble uncertainty as a measure of uncertainty in the learned dynamics model, we compute a maximal robust control invariant set, starting from which the system is guaranteed to satisfy the safety constraints under the condition that realized model uncertainties are contained in the predefined set of admissible model uncertainty. We demonstrate the effectiveness of our method using a simulated case study with an inverted pendulum and a hardware experiment with a TurtleBot. The experiments show that our method robustifies the control actions of the system against model uncertainty and generates safe behaviors without being overly restrictive. The codes and accompanying videos can be found on the project website.

We propose NeuronaBox, a flexible, user-friendly, and high-fidelity approach to emulate DNN training workloads. We argue that to accurately observe performance, it is possible to execute the training workload on a subset of real nodes and emulate the networked execution environment along with the collective communication operations. Initial results from a proof-of-concept implementation show that NeuronaBox replicates the behavior of actual systems with high accuracy, with an error margin of less than 1% between the emulated measurements and the real system.

The cold-start problem is a long-standing challenge in recommender systems due to the lack of user-item interactions, which significantly hurts the recommendation effect over new users and items. Recently, meta-learning based methods attempt to learn globally shared prior knowledge across all users, which can be rapidly adapted to new users and items with very few interactions. Though with significant performance improvement, the globally shared parameter may lead to local optimum. Besides, they are oblivious to the inherent information and feature interactions existing in the new users and items, which are critical in cold-start scenarios. In this paper, we propose a Task aligned Meta-learning based Augmented Graph (TMAG) to address cold-start recommendation. Specifically, a fine-grained task aligned constructor is proposed to cluster similar users and divide tasks for meta-learning, enabling consistent optimization direction. Besides, an augmented graph neural network with two graph enhanced approaches is designed to alleviate data sparsity and capture the high-order user-item interactions. We validate our approach on three real-world datasets in various cold-start scenarios, showing the superiority of TMAG over state-of-the-art methods for cold-start recommendation.

Test suites tend to grow when software evolves, making it often infeasible to execute all test cases with the allocated testing budgets, especially for large software systems. Test suite minimization (TSM) is employed to improve the efficiency of software testing by removing redundant test cases, thus reducing testing time and resources, while maintaining the fault detection capability of the test suite. Most existing TSM approaches rely on code coverage (white-box) or model-based features, which are not always available to test engineers. Recent TSM approaches that rely only on test code (black-box) have been proposed, such as ATM and FAST-R. To address the scalability, we propose LTM (Language model-based Test suite Minimization), a novel, scalable, and black-box similarity-based TSM approach based on large language models (LLMs), which is the first application of LLMs in the context of TSM. To support similarity measurement for test code embeddings, we investigate five pre-trained language models: CodeBERT, GraphCodeBERT, UniXcoder, StarEncoder, and CodeLlama, on which we compute two similarity measures: Cosine Similarity and Euclidean Distance. Our goal is to find similarity measures that are not only computationally more efficient but can also better guide a Genetic Algorithm (GA) to search for optimal minimized test suites, thus reducing the overall search time. Experimental results show that the best configuration of LTM (UniXcoder/Cosine) outperforms ATM in three aspects: (a) achieving a slightly greater saving rate of testing time (41.72% versus 40.29%, on average); (b) attaining a significantly higher fault detection rate (0.84 versus 0.81, on average); and, most importantly, (c) minimizing test suites nearly five times faster on average, with higher gains for larger test suites and systems, thus achieving much higher scalability.

Delegation and leadership are critical components of software management, as they play a crucial role in determining the success of the software development process. This study examined the relationship between delegation and leadership in software management and the impact of these factors on project outcomes. Results showed that effective delegation and transformational leadership styles can improve workflow, enhance team motivation and productivity, and ultimately lead to successful software development projects. The findings of this study have important implications for software management practices, as they suggest that organizations and software managers should prioritize the development of effective delegation and leadership practices to ensure the success of their software development initiatives. Further research is needed to explore the complex interplay between delegation and leadership in software management and to identify best practices for improving these processes.

The software development lifecycle depends heavily on the testing process, which is an essential part of finding issues and reviewing the quality of software. Software testing can be done in two ways: manually and automatically. With an emphasis on its primary function within the software lifecycle, the relevance of testing in general, and the advantages that come with it, this article aims to give a thorough review of automated testing. Finding time- and cost-effective methods for software testing. The research examines how automated testing makes it easier to evaluate software quality, how it saves time as compared to manual testing, and how it differs from each of them in terms of benefits and drawbacks. The process of testing software applications is simplified, customized to certain testing situations, and can be successfully carried out by using automated testing tools.

Automatic software fault localization plays an important role in software quality assurance by pinpointing faulty locations for easier debugging. Coverage-based fault localization, a widely used technique, employs statistics on coverage spectra to rank code based on suspiciousness scores. However, the rigidity of statistical approaches calls for learning-based techniques. Amongst all, Grace, a graph-neural network (GNN) based technique has achieved state-of-the-art due to its capacity to preserve coverage spectra, i.e., test-to-source coverage relationships, as precise abstract syntax-enhanced graph representation, mitigating the limitation of other learning-based technique which compresses the feature representation. However, such representation struggles with scalability due to the increasing complexity of software and associated coverage spectra and AST graphs. In this work, we proposed a new graph representation, DepGraph, that reduces the complexity of the graph representation by 70% in nodes and edges by integrating interprocedural call graph in the graph representation of the code. Moreover, we integrate additional features such as code change information in the graph as attributes so the model can leverage rich historical project data. We evaluate DepGraph using Defects4j 2.0.0, and it outperforms Grace by locating 20% more faults in Top-1 and improving the Mean First Rank (MFR) and the Mean Average Rank (MAR) by over 50% while decreasing GPU memory usage by 44% and training/inference time by 85%. Additionally, in cross-project settings, DepGraph surpasses the state-of-the-art baseline with a 42% higher Top-1 accuracy, and 68% and 65% improvement in MFR and MAR, respectively. Our study demonstrates DepGraph's robustness, achieving state-of-the-art accuracy and scalability for future extension and adoption.

Recommender systems play a crucial role in mitigating the problem of information overload by suggesting users' personalized items or services. The vast majority of traditional recommender systems consider the recommendation procedure as a static process and make recommendations following a fixed strategy. In this paper, we propose a novel recommender system with the capability of continuously improving its strategies during the interactions with users. We model the sequential interactions between users and a recommender system as a Markov Decision Process (MDP) and leverage Reinforcement Learning (RL) to automatically learn the optimal strategies via recommending trial-and-error items and receiving reinforcements of these items from users' feedbacks. In particular, we introduce an online user-agent interacting environment simulator, which can pre-train and evaluate model parameters offline before applying the model online. Moreover, we validate the importance of list-wise recommendations during the interactions between users and agent, and develop a novel approach to incorporate them into the proposed framework LIRD for list-wide recommendations. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.