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Paper maps remain widely used for hiking and sightseeing because they contain curated trails and locally relevant annotations that are often missing from digital navigation applications such as Google Maps. We propose a pipeline to extract…
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy state or actuator constraints. Modern trajectory planning…
Search is a key service within constraint programming systems, and it demands the restoration of previously accessed states during the exploration of a search tree. Restoration proceeds either bottom-up within the tree to roll back…
Introductory Computer Science classes are important for laying the foundation for advanced programming courses. However, students without prior programming experience may find these courses challenging, leading to difficulties in…
We consider the problem of data race prediction where the program's behavior is represented by a trace. A trace is a sequence of program events recorded during the execution of the program. We employ the schedulable happens-before relation…
Neural Architecture Search (NAS) has enabled automatic discovery of more efficient neural network architectures, especially for mobile and embedded vision applications. Although recent research has proposed ways of quickly estimating…
We propose DeepExplorer, a simple and lightweight metric-free exploration method for topological mapping of unknown environments. It performs task and motion planning (TAMP) entirely in image feature space. The task planner is a recurrent…
Memory profiling captures programs' dynamic memory behavior, assisting programmers in debugging, tuning, and enabling advanced compiler optimizations like speculation-based automatic parallelization. As each use case demands its unique…
Embedded systems have proliferated in various consumer and industrial applications with the evolution of Cyber-Physical Systems and the Internet of Things. These systems are subjected to stringent constraints so that embedded software must…
Contact tracing has been considered as an effective measure to limit the transmission of infectious disease such as COVID-19. Trajectory-based contact tracing compares the trajectories of users with the patients, and allows the tracing of…
A key challenge for reinforcement learning is solving long-horizon planning problems. Recent work has leveraged programs to guide reinforcement learning in these settings. However, these approaches impose a high manual burden on the user…
With the increasing scale and complexity of cloud systems and big data analytics platforms, it is becoming more and more challenging to understand and diagnose the processing of a service request in such distributed platforms. One way that…
We describe a novel approach to monitoring high level behaviors using concepts from AI planning. Our goal is to understand what a program is doing based on its system call trace. This ability is particularly important for detecting malware.…
HPC systems expose many configuration parameters that jointly drive competing objectives. Existing tools such as autotuners recommend good configurations but do not identify minimal changes for a near-miss configuration to meet a…
We propose a novel notion of pointer race for concurrent programs manipulating a shared heap. A pointer race is an access to a memory address which was freed, and it is out of the accessor's control whether or not the cell has been…
In this paper, we study CPU utilization time patterns of several MapReduce applications. After extracting running patterns of several applications, they are saved in a reference database to be later used to tweak system parameters to…
High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual…
When debugging unintended program behavior, developers can often identify the point in the execution where the actual behavior diverges from the desired behavior. For example, a variable may get assigned a wrong value, which then negatively…
Just-in-time compilation provides significant performance improvements for programs written in dynamic languages. These benefits come from the ability of the compiler to speculate about likely cases and generate optimized code for these.…
Software performance modeling plays a crucial role in developing and maintaining software systems. A performance model analytically describes the relationship between the performance of a system and its runtime activities. This process…