Task (computing)

About: Task (computing) is a research topic. Over the lifetime, 9718 publications have been published within this topic receiving 129364 citations.

Latent Collaborative Retrieval

Abstract: Retrieval tasks typically require a ranking of items given a query. Collaborative filtering tasks, on the other hand, learn to model user's preferences over items. In this paper we study the joint problem of recommending items to a user with respect to a given query, which is a surprisingly common task. This setup differs from the standard collaborative filtering one in that we are given a query × user × item tensor for training instead of the more traditional user × item matrix. Compared to document retrieval we do have a query, but we may or may not have content features (we will consider both cases) and we can also take account of the user's profile. We introduce a factorized model for this new task that optimizes the top-ranked items returned for the given query and user. We report empirical results where it outperforms several baselines.

Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals

Abstract: This paper discusses hardware and software improvements to the RoboSimian system leading up to and during the 2015 DARPA Robotics Challenge DRC Finals. Team RoboSimian achieved a 5th place finish by achieving 7 points in 47:59 min. We present an architecture that was structured to be adaptable at the lowest level and repeatable at the highest level. The low-level adaptability was achieved by leveraging tactile measurements from force torque sensors in the wrist coupled with whole-body motion primitives. We use the term "behaviors" to conceptualize this low-level adaptability. Each behavior is a contact-triggered state machine that enables execution of short-order manipulation and mobility tasks autonomously. At a high level, we focused on a teach-and-repeat style of development by storing executed behaviors and navigation poses in an object/task frame for recall later. This enabled us to perform tasks with high repeatability on competition day while being robust to task differences from practice to execution.

Tappan Zee (north) bridge: mining memory accesses for introspection

Abstract: The ability to introspect into the behavior of software at runtime is crucial for many security-related tasks, such as virtual machine-based intrusion detection and low-artifact malware analysis. Although some progress has been made in this task by automatically creating programs that can passively retrieve kernel-level information, two key challenges remain. First, it is currently difficult to extract useful information from user-level applications, such as web browsers. Second, discovering points within the OS and applications to hook for active monitoring is still an entirely manual process. In this paper we propose a set of techniques to mine the memory accesses made by an operating system and its applications to locate useful places to deploy active monitoring, which we call tap points. We demonstrate the efficacy of our techniques by finding tap points for useful introspection tasks such as finding SSL keys and monitoring web browser activity on five different operating systems (Windows 7, Linux, FreeBSD, Minix and Haiku) and two processor architectures (ARM and x86).

Methods and systems for distributing remote assistance to facilitate robotic object manipulation

Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

Sparse Multi-Task Reinforcement Learning

Abstract: In multi-task reinforcement learning (MTRL), the objective is to simultaneously learn multiple tasks and exploit their similarity to improve the performance w.r.t. single-task learning. In this paper we investigate the case when all the tasks can be accurately represented in a linear approximation space using the same small subset of the original (large) set of features. This is equivalent to assuming that the weight vectors of the task value functions are jointly sparse, i.e., the set of their non-zero components is small and it is shared across tasks. Building on existing results in multi-task regression, we develop two multi-task extensions of the fitted Q-iteration algorithm. While the first algorithm assumes that the tasks are jointly sparse in the given representation, the second one learns a transformation of the features in the attempt of finding a more sparse representation. For both algorithms we provide a sample complexity analysis and numerical simulations.