相关论文: From Low-Level Pointers to High-Level Containers

How can we imbue robots with the ability to manipulate objects precisely but also to reason about them in terms of abstract concepts? Recent works in manipulation have shown that end-to-end networks can learn dexterous skills that require…

Programmers of cryptographic applications written in C need to avoid common mistakes such as sending private data over public channels, modifying trusted data with untrusted functions, or improperly ordering protocol steps. These secrecy,…

Recent compilers allow a general-purpose program (written in a conventional programming language) that handles private data to be translated into secure distributed implementation of the corresponding functionality. The resulting program is…

We present a one-fits-all programmatic approach to reason about a plethora of objectives on probabilistic programs. The first ingredient is to add a reward-statement to the language. We then define a program transformation applying a…

Trusting simulation output is crucial for Sandia's mission objectives. We rely on these simulations to perform our high-consequence mission tasks given national treaty obligations. Other science and modeling applications, while they may…

The implicit particle filter is a sequential Monte Carlo method for data assimilation that guides the particles to the high-probability regions via a sequence of steps that includes minimizations. We present a new and more general…

We present a new algorithm for reducing an arbitrary unitary matrix U into a sequence of elementary operations (operations such as controlled-nots and qubit rotations). Such a sequence of operations can be used to manipulate an array of…

Deploying complex, distributed scientific workflows across diverse HPC sites is often hindered by site-specific dependencies and complex build environments. This paper investigates the design and performance of portable HPC container images…

Mapper and Ball Mapper are Topological Data Analysis tools used for exploring high dimensional point clouds and visualizing scalar-valued functions on those point clouds. Inspired by open questions in knot theory, new features are added to…

Encoder transformer models compress information from all tokens in a sequence into a single [CLS] token to represent global context. This approach risks diluting fine-grained or hierarchical features, leading to information loss in…

This work presents a new approach for implementing polymorphism for bottom-up relational languages, without monomorphization. We begin by introducing semiringKanren, a bottom-up weighted relational programming language. We extend this base…

System-level design methodologies have been introduced as a solution to handle the design complexity of mixed Hardware / Software systems. In this paper we describe a system-level design flow starting from Simulink specification, focusing…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

This article aims to explain the Nested Benders algorithm for the solution of large-scale stochastic programming problems in a way that is intelligible to someone coming to it for the first time. In doing so it gives an explanation of…

We present methods to estimate the physical properties of household containers and their fillings manipulated by humans. We use a lightweight, pre-trained convolutional neural network with coordinate attention as a backbone model of the…

E-commerce click-stream data and product catalogs offer critical user behavior insights and product knowledge. This paper propose a multi-modal transformer termed as PINCER, that leverages the above data sources to transform initial user…

We show how to underapproximate the procedure summaries of recursive programs over the integers using off-the-shelf analyzers for non-recursive programs. The novelty of our approach is that the non-recursive program we compute may capture…

If the result of an expensive computation is invalidated by a small change to the input, the old result should be updated incrementally instead of reexecuting the whole computation. We incrementalize programs through their derivative. A…

This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…

In our times, when the world is increasingly becoming more dependent on software programs, writing bug-free, correct programs is crucial. Program verification based on formal methods can guarantee this by detecting run-time errors in…