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We articulate a vision for computer programming that includes pen-based computing, a paradigm we term notational programming. Notational pro… (see more)gramming blurs contexts: certain typewritten variables can be referenced in handwritten notation and vice-versa. To illustrate this paradigm, we developed an extension, Notate, to computational notebooks which allows users to open drawing canvases within lines of code. As a case study, we explore quantum programming and designed a notation, Qaw, that extends quantum circuit notation with abstraction features, such as variable-sized wire bundles and recursion. Results from a usability study with novices suggest that users find our core interaction of implicit cross-context references intuitive, but suggests further improvements to debugging infrastructure, interface design, and recognition rates. Throughout, we discuss questions raised by the notational paradigm, including a shift from ‘recognition’ of notations to ‘reconfiguration’ of practices and values around programming, and from ‘sketching’ to writing and drawing, or what we call ‘notating.’
2022-10-28
ACM Symposium on User Interface Software and Technology (published)
Notational Programming for Notebook Environments: A Case Study with Quantum Circuits
Ian A. Arawjo
Anthony DeArmas
Michael Roberts
Shrutarshi Basu
Tapan S. Parikh
We articulate a vision for computer programming that includes pen-based computing, a paradigm we term notational programming. Notational pro… (see more)gramming blurs contexts: certain typewritten variables can be referenced in handwritten notation and vice-versa. To illustrate this paradigm, we developed an extension, Notate, to computational notebooks which allows users to open drawing canvases within lines of code. As a case study, we explore quantum programming and designed a notation, Qaw, that extends quantum circuit notation with abstraction features, such as variable-sized wire bundles and recursion. Results from a usability study with novices suggest that users find our core interaction of implicit cross-context references intuitive, but suggests further improvements to debugging infrastructure, interface design, and recognition rates. Throughout, we discuss questions raised by the notational paradigm, including a shift from ‘recognition’ of notations to ‘reconfiguration’ of practices and values around programming, and from ‘sketching’ to writing and drawing, or what we call ‘notating.’
2022-10-28
ACM Symposium on User Interface Software and Technology (published)
We propose a general framework for policy representation for reinforcement learning tasks. This framework involves finding a low-dimensional… (see more) embedding of the policy on a reproducing kernel Hilbert space (RKHS). The usage of RKHS based methods allows us to derive strong theoretical guarantees on the expected return of the reconstructed policy. Such guarantees are typically lacking in black-box models, but are very desirable in tasks requiring stability and convergence guarantees. We conduct several experiments on classic RL domains. The results confirm that the policies can be robustly represented in a low-dimensional space while the embedded policy incurs almost no decrease in returns.
2022-10-27
Journal of Artificial Intelligence Research (published)
Segmentation of Multiple Sclerosis (MS) lesions is a challenging problem. Several deep-learning-based methods have been proposed in recent y… (see more)ears. However, most methods tend to be static, that is, a single model trained on a large, specialized dataset, which does not generalize well. Instead, the model should learn across datasets arriving sequentially from different hospitals by building upon the characteristics of lesions in a continual manner. In this regard, we explore experience replay, a well-known continual learning method, in the context of MS lesion segmentation across multi-contrast data from 8 different hospitals. Our experiments show that replay is able to achieve positive backward transfer and reduce catastrophic forgetting compared to sequential fine-tuning. Furthermore, replay outperforms the multi-domain training, thereby emerging as a promising solution for the segmentation of MS lesions. The code is available at this link: https://github.com/naga-karthik/continual-learning-ms
Causal learning has long concerned itself with the accurate recovery of underlying causal mechanisms. Such causal modelling enables better e… (see more)xplanations of out-of-distribution data. Prior works on causal learning assume that the high-level causal variables are given. However, in machine learning tasks, one often operates on low-level data like image pixels or high-dimensional vectors. In such settings, the entire Structural Causal Model (SCM) -- structure, parameters, \textit{and} high-level causal variables -- is unobserved and needs to be learnt from low-level data. We treat this problem as Bayesian inference of the latent SCM, given low-level data. For linear Gaussian additive noise SCMs, we present a tractable approximate inference method which performs joint inference over the causal variables, structure and parameters of the latent SCM from random, known interventions. Experiments are performed on synthetic datasets and a causally generated image dataset to demonstrate the efficacy of our approach. We also perform image generation from unseen interventions, thereby verifying out of distribution generalization for the proposed causal model.
We address the problem of enabling quadrupedal robots to perform precise shooting skills in the real world using reinforcement learning. Dev… (see more)eloping algorithms to enable a legged robot to shoot a soccer ball to a given target is a challenging problem that combines robot motion control and planning into one task. To solve this problem, we need to consider the dynamics limitation and motion stability during the control of a dynamic legged robot. Moreover, we need to consider motion planning to shoot the hard-to-model deformable ball rolling on the ground with uncertain friction to a desired location. In this paper, we propose a hierarchical framework that leverages deep reinforcement learning to train (a) a robust motion control policy that can track arbitrary motions and (b) a planning policy to decide the desired kicking motion to shoot a soccer ball to a target. We deploy the proposed framework on an A1 quadrupedal robot and enable it to accurately shoot the ball to random targets in the real world.
2022-10-23
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (published)
