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Self-supervised Learning for Joint Pushing and Grasping Policies in Highly Cluttered Environments

Self-supervised Learning for Joint Pushing and Grasping Poli...

引用

ieee International conference on Robotics and Automation (ICRA)

作者： Yongliang Wang Kamal Mokhtar Cock Heemskerk Hamidreza Kasaei Department of Artificial Intelligence Bernoulli Institute University of Groningen The Netherlands Heemskerk Innovative Technology Delft The Netherlands

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robotic systems often face challenges when attempting to grasp a target object due to interference from surrounding items. We propose a Deep Reinforcement Learning (DRL) method that develops joint policies for grasping and pushing, enabling effective manipulation of target objects within untrained, densely cluttered environments. In particular, a dual RL model is introduced, which presents high resilience in handling complicated scenes, reaching an average of 98% task completion in simulation and real-world scenes. To evaluate the proposed method, we conduct comprehensive simulation experiments in three distinct environments: densely packed building blocks, randomly positioned building blocks, and common household objects. Further, real-world tests are conducted using actual robots to confirm the robustness of our approach in various untrained and highly cluttered environments. The results from experiments underscore the superior efficacy of our method in both simulated and real-world scenarios, outperforming recent state-of-the-art methods. To ensure reproducibility and further the academic discourse, we make available a demonstration video, the trained models, and the source code for public access. https://***/view/pushandgrasp/home.

关键词： source coding Grasping Self-supervised learning Interference Robustness Reproducibility of results Task analysis

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Who Does What? Work Division and Allocation Strategies of Computer Science Student Teams

Who Does What? Work Division and Allocation Strategies of Co...

引用

Software Engineering: Software Engineering Education and Training (ICSE-SEET), ieee/ACM International conference on

作者： Anna van der Meulen Efthimia Aivaloglou University of Leiden Leiden Netherlands Leiden Institute of Advanced Computer Science University of Leiden The Netherlands Open University of The Netherlands

ISBN: (纸本)9781665429726

Collaboration skills are important for future software engineers. In computer science education, these skills are of-ten practiced through group assignments, where students develop software collaboratively. The approach that students take in these assignments varies widely, but often involves a division of labour. It can then be argued whether collaboration still takes place. The discipline of computing education is especially interesting in this context, because some of its specific features (such as the variation in entry skill level and the use of source code repositories as collaboration platforms) are likely to influence the approach taken within groupwork. The aim of this research is to gain insight into the work division and allocation strategies applied by computer science students during group assignments. To this end, we interviewed twenty students of four universities. The thematic analysis shows that students tend to divide up the workload to enable working independently, with pair programming and code reviews being often employed. Motivated primarily by grade and efficiency factors, students choose and allocate tasks primarily based on their prior expertise and preferences. Based on our findings, we argue that the setup of group assignments can limit students' motivation for practicing new software engineering skills, and that interventions are needed towards encouraging experimentation and learning.

关键词： Training Collaboration Software Resource management Task analysis Programming profession Software engineering

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Layered BubbleTea Software Architecture Visualisation

Layered BubbleTea Software Architecture Visualisation

引用

ieee International Workshop on Visualizing Software for Understanding and analysis (VISSOFT)

作者： Satrio Adi Rukmono Michel R. V. Chaudron Christopher Jeffrey Eindhoven University of Technology Eindhoven The Netherlands Institut Teknologi Bandung Bandung Indonesia

ISBN: (数字)9798331528485

ISBN: (纸本)9798331528492

This paper presents the Layered BubbleTea Visualisation, a novel approach to software visualisation that enhances the comprehension of software systems from an architectural perspective. The visualisation addresses the challenge of understanding complex software structures by mapping software components to architectural layers and elucidating their contents according to their relation to the stereotypical functionality of architectural layers. The paper details the development and presentation of the Layered BubbleTea Visualisation technique, illustrated using the source code of an Android email client application, K-9 Mail. We highlight the technique's potential to identify design issues and guide refactoring efforts. This work contributes to the field of software visualisation by offering a new approach to understanding and managing the complexity of software systems. Video URL-https://***/wvQNhmbyLtk

关键词： Visualization Software architecture source coding Layout Software systems Software Complexity theory Postal services

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A Build System for Software Development in Robotic Academic Collaborative Environments

A Build System for Software Development in Robotic Academic ...

引用

ieee International conference on Robotic Computing (IRC)

作者： Daniele E. Domenichelli Silvio Traversaro Luca Muratore Alessio Rocchi Francesco Nori Lorenzo Natale iCub Facility Istituto Italiano di Tecnologia (IIT) Genoa Italy Department of Advanced Robotics Istituto Italiano di Tecnologia (IIT) Genoa Italy

The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging the C/C++ code they write, develop and maintain the build system and continuous integration tools. Research projects are joint efforts of different groups working remotely and asynchronously. The typical solution is to rely on binary distributions and/or large repositories that compile all software and dependencies. This approach hinders code sharing and reuse and often leads to repositories whose inter-dependencies are difficult to manage. Following many years of experience leading software integration is research projects we developed YCM, a tool that supports our best practices addressing these issues. YCM is a set of CMake scripts that provides (1) build system support: to develop and package software libraries and components, and (2) superbuild deployment: to prepare and distribute sets of packages in source form as a single meta build. In this paper we describe YCM and report on our experience adopting it as a tool for managing software repositories in large research projects.

关键词： Software Tools Robots Collaboration Task analysis Packaging Best practices

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An Integrated Approach to Package and Class code- to-Architecture Mapping Using InMap

An Integrated Approach to Package and Class Code- to-Archite...

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working ieee/IFIP conference on Software Architecture

作者： Zipani Tom Sinkala Sebastian Herold Mathematics & Computer Science Karlstad University Karlstad Sweden

Reflexion Modelling is a successful method used in industry for Software Architectural Consistency Checking (SACC). However, it includes a mapping step that is manual and tedious, especially for large complex systems. Various studies have shown how to successfully automate the interactive mapping of the basic units of the software’s codebase, i.e. its classes, to its architecture modules. However, their inherent drawback is that the effort required by an architect to review the mapping recommendations produced, whether during the mapping occurs or at the end of mapping, can be considerable. Subsequent studies have attempted to reduce this effort by use of a hierarchical mapping approach. These studies have demonstrated a reduction in the review effort required by a software architect; however, the gain in effort reduction occurred at the price of a lower recall and precision than similar non-hierarchical mapping approaches. In this study, we present an integrated approach of automated code-to-architecture mapping that draws from hierarchical (package mapping) and non-hierarchical (class mapping) techniques to keep effort minimal for an architect with marginal loss in recall and precision. Using the harmonic mean of f 1 -scores and effort reduction, our results show that with our integrated approach, we could achieve 0.90 on average, compared to 0.87 for the other two methods.

关键词： Industries Software architecture source coding Computer architecture Manuals Maintenance engineering Harmonic analysis

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Exploring Eye Tracking Data on source code via Dual Space analysis

Exploring Eye Tracking Data on Source Code via Dual Space An...

引用

ieee International Workshop on Visualizing Software for Understanding and analysis (VISSOFT)

作者： Li Zhang Jianxin Sun Cole Peterson Bonita Sharif Hongfeng Yu Department of Computer Science and Engineering University of Nebraska-Lincoln Lincoln Nebraska USA

Eye tracking is a frequently used technique to collect data capturing users' strategies and behaviors in processing information. Understanding how programmers navigate through a large number of classes and methods to find bugs is important to educators and practitioners in software engineering. However, the eye tracking data collected on realistic codebases is massive compared to traditional eye tracking data on one static page. The same content may appear in different areas on the screen with users scrolling in an Integrated Development Environment (IDE). Hierarchically structured content and fluid method position compose the two major challenges for visualization. We present a dual-space analysis approach to explore eye tracking data by leveraging existing software visualizations and a new graph embedding visualization. We use the graph embedding technique to quantify the distance between two arbitrary methods, which offers a more accurate visualization of distance with respect to the inherent relations, compared with the direct software structure and the call graph. The visualization offers both naturalness and readability showing time-varying eye movement data in both the content space and the embedded space, and provides new discoveries in developers' eye tracking behaviors.

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Siamese CNNs for RGB-LWIR Disparity Estimation

Siamese CNNs for RGB-LWIR Disparity Estimation

引用

ieee Computer Society conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Mohammad Rostami Soheil Kolouri Eric Eaton Kyungnam Kim University of Pennsylvania HRL Laboratories LLC

ISBN: (数字)9781728125060

ISBN: (纸本)9781728125077

Currently, for the task of color (RGB) and thermal infrared (LWIR) disparity estimation, handcrafted feature descriptors such as mutual information are the methods achieving best performance. In this work, we aim to assess if convolutional neural networks (CNNs) can achieve competitive performance in this task. We developed an architecture made of two subnetworks, each consisting of the same siamese network, but taking different image patches as input. Each siamese network, in the feature space, searches for the disparity between the left and right patch. The out-put of the two subnetworks are summed together so that we can be more confident in the predicted disparity by enforcing left-right consistency. We show that having two subnet-works working together in parallel to get the final prediction helps achieve better performance when compared to a single subnetwork by itself. We tested our method on the LITIV dataset and found the results competitive when compared to handcrafted feature descriptors. The source code of our method will be available online upon publication.

关键词： Task analysis Microsoft Windows Estimation Mutual information Temperature sensors Image color analysis Convolutional neural networks

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Studying the Effectiveness of Application Performance Management (APM) Tools for Detecting Performance Regressions for Web Applications: An Experience Report

Studying the Effectiveness of Application Performance Manage...

引用

International Mining Software Repositories, MSR

作者： Tarek M. Ahmed Cor-Paul Bezemer Tse-Hsun Chen Ahmed E. Hassan Weiyi Shang Software Analysis and Intelligence Lab (SAIL) Queen's University Kingston Ontario Canada Department of Computer Science and Software Engineering Concordia University Montreal QC Canada

ISBN: (纸本)9781509022427

Performance regressions, such as a higher CPU utilization than in the previous version of an application, are caused by software application updates that negatively affect the performance of an *** a plethora of mining software repository research has been done to detect such regressions, research tools are generally not readily available to practitioners. Application Performance Management (APM) tools are commonly used in practice for detecting performance issues in the field by mining operational *** contrast to performance regression detection tools that assume a changing code base and a stable workload, APM tools mine operational data to detect performance anomalies caused by a changing workload in an otherwise stable code base. Although APM tools are widely used in practice, no research has been done to understand 1) whether APM tools can identify performance regressions caused by code changes and 2) how well these APM tools support diagnosing the root-cause of these *** this paper, we explore if the readily accessible APM tools can help practitioners detect performance regressions. We perform a case study using three commercial (AppDynamics, New Relic and Dynatrace) and one open source (Pinpoint) APM tools. In particular, we examine the effectiveness of leveraging these APM tools in detecting and diagnosing injected performance regressions (excessive memory usage, high CPU utilization and inefficient database queries) in three open source applications. We find that APM tools can detect most of the injected performance regressions, making them good candidates to detect performance regressions in practice. However, there is a gap between mining approaches that are proposed in state-of-the-art performance regression detection research and the ones used by APM tools. In addition, APM tools lack the ability to be extended, which makes it hard to enhance them when exploring novel mining approaches for detecting performance regressions

关键词： Software Data mining Monitoring Measurement Testing Production Data models

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analysis and Implementation of a Parallel Computing Cluster for Solving Computational Problems in Data Analytics

Analysis and Implementation of a Parallel Computing Cluster ...

引用

ieee International conference on Computing, Communication and Security (ICCCS)

作者： Chavala Mutyala Rao K. Shyamala University College of Engineering Osmania University Hyderabad

ISBN: (数字)9781728191805

ISBN: (纸本)9781728191812

As computers get updated by a couple of generations, they get disposed of as useless but when a large number of such computers are put together and they share each other's computational power, they can get really powerfulcluster defines as a parallel computing system which is inter connected with a group of independent computers working togeather as a single coherent system. Clusters uses message passing interface for communication, and code snippets have to be explicitly programmed to run on underlying hardware. More computing nodes to be added to the cluster based on the need. While designing parallel cluster in many cases we opt for open source technologies and Linux system components which reduce software costs. Parallel Cluster is a way of connecting similar computers together and can get a task done by sharing the task load. The task is shared in coordination of the master and slave nodes in a cluster. Parallel computing clusters allows group of computers with different hardware configurations, to work together to provide solutions to different computational problems. The resources like memory, storage and CPU cores in a cluster computing environment are integrated into one system. This paper is to set up a cluster environment for academic purposes and provide a huge computation power to run a program in parallel mode this will reduce the time taken to execute a program. A parallel code is always better then sequential code in terms of time taken to run.

关键词： Rocks Servers Task analysis Parallel processing Linux Hardware Performance evaluation

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The promises and perils of mining git

The promises and perils of mining git

引用

International Mining Software Repositories, MSR

作者： Christian Bird Peter C. Rigby Earl T. Barr David J. Hamilton Daniel M. German Prem Devanbu University of California San Diego Davis USA University of Victoria Canada

ISBN: (纸本)9781424434930

We are now witnessing the rapid growth of decentralized source code management (DSCM) systems, in which every developer has her own repository. DSCMs facilitate a style of collaboration in which work output can flow sideways (and privately) between collaborators, rather than always up and down (and publicly) via a central repository. Decentralization comes with both the promise of new data and the peril of its misinterpretation. We focus on git, a very popular DSCM used in high-profile projects. Decentralization, and other features of git, such as automatically recorded contributor attribution, lead to richer content histories, giving rise to new questions such as ldquoHow do contributions flow between developers to the official project repository?rdquo However, there are pitfalls. Commits may be reordered, deleted, or edited as they move between repositories. The semantics of terms common to SCMs and DSCMs sometimes differ markedly, potentially creating confusion. For example, a commit is immediately visible to all developers in centralized SCMs, but not in DSCMs. Our goal is to help researchers interested in DSCMs avoid these and other perils when mining and analyzing git data.

关键词： Linux Collaborative work Packaging Kernel History Data analysis Open source software Birds Mercury (metals) Rails

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