Matching Items (2)
Description
In a collaborative environment where multiple robots and human beings are expected
to collaborate to perform a task, it becomes essential for a robot to be aware of multiple
agents working in its work environment. A robot must also learn to adapt to
different agents in the workspace and conduct its interaction based on the presence
of these agents. A theoretical framework was introduced which performs interaction
learning from demonstrations in a two-agent work environment, and it is called
Interaction Primitives.
This document is an in-depth description of the new state of the art Python
Framework for Interaction Primitives between two agents in a single as well as multiple
task work environment and extension of the original framework in a work environment
with multiple agents doing a single task. The original theory of Interaction
Primitives has been extended to create a framework which will capture correlation
between more than two agents while performing a single task. The new state of the
art Python framework is an intuitive, generic, easy to install and easy to use python
library which can be applied to use the Interaction Primitives framework in a work
environment. This library was tested in simulated environments and controlled laboratory
environment. The results and benchmarks of this library are available in the
related sections of this document.
to collaborate to perform a task, it becomes essential for a robot to be aware of multiple
agents working in its work environment. A robot must also learn to adapt to
different agents in the workspace and conduct its interaction based on the presence
of these agents. A theoretical framework was introduced which performs interaction
learning from demonstrations in a two-agent work environment, and it is called
Interaction Primitives.
This document is an in-depth description of the new state of the art Python
Framework for Interaction Primitives between two agents in a single as well as multiple
task work environment and extension of the original framework in a work environment
with multiple agents doing a single task. The original theory of Interaction
Primitives has been extended to create a framework which will capture correlation
between more than two agents while performing a single task. The new state of the
art Python framework is an intuitive, generic, easy to install and easy to use python
library which can be applied to use the Interaction Primitives framework in a work
environment. This library was tested in simulated environments and controlled laboratory
environment. The results and benchmarks of this library are available in the
related sections of this document.
ContributorsKumar, Ashish, M.S (Author) / Amor, Hani Ben (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2017
Description
When scientific software is written to specify processes, it takes the form of a workflow, and is often written in an ad-hoc manner in a dynamic programming language. There is a proliferation of legacy workflows implemented by non-expert programmers due to the accessibility of dynamic languages. Unfortunately, ad-hoc workflows lack a structured description as provided by specialized management systems, making ad-hoc workflow maintenance and reuse difficult, and motivating the need for analysis methods. The analysis of ad-hoc workflows using compiler techniques does not address dynamic languages - a program has so few constrains that its behavior cannot be predicted. In contrast, workflow provenance tracking has had success using run-time techniques to record data. The aim of this work is to develop a new analysis method for extracting workflow structure at run-time, thus avoiding issues with dynamics.
The method captures the dataflow of an ad-hoc workflow through its execution and abstracts it with a process for simplifying repetition. An instrumentation system first processes the workflow to produce an instrumented version, capable of logging events, which is then executed on an input to produce a trace. The trace undergoes dataflow construction to produce a provenance graph. The dataflow is examined for equivalent regions, which are collected into a single unit. The workflow is thus characterized in terms of its treatment of an input. Unlike other methods, a run-time approach characterizes the workflow's actual behavior; including elements which static analysis cannot predict (for example, code dynamically evaluated based on input parameters). This also enables the characterization of dataflow through external tools.
The contributions of this work are: a run-time method for recording a provenance graph from an ad-hoc Python workflow, and a method to analyze the structure of a workflow from provenance. Methods are implemented in Python and are demonstrated on real world Python workflows. These contributions enable users to derive graph structure from workflows. Empowered by a graphical view, users can better understand a legacy workflow. This makes the wealth of legacy ad-hoc workflows accessible, enabling workflow reuse instead of investing time and resources into creating a workflow.
The method captures the dataflow of an ad-hoc workflow through its execution and abstracts it with a process for simplifying repetition. An instrumentation system first processes the workflow to produce an instrumented version, capable of logging events, which is then executed on an input to produce a trace. The trace undergoes dataflow construction to produce a provenance graph. The dataflow is examined for equivalent regions, which are collected into a single unit. The workflow is thus characterized in terms of its treatment of an input. Unlike other methods, a run-time approach characterizes the workflow's actual behavior; including elements which static analysis cannot predict (for example, code dynamically evaluated based on input parameters). This also enables the characterization of dataflow through external tools.
The contributions of this work are: a run-time method for recording a provenance graph from an ad-hoc Python workflow, and a method to analyze the structure of a workflow from provenance. Methods are implemented in Python and are demonstrated on real world Python workflows. These contributions enable users to derive graph structure from workflows. Empowered by a graphical view, users can better understand a legacy workflow. This makes the wealth of legacy ad-hoc workflows accessible, enabling workflow reuse instead of investing time and resources into creating a workflow.
ContributorsAcűna, Ruben (Author) / Bazzi, Rida (Thesis advisor) / Lacroix, Zoé (Thesis advisor) / Candan, Kasim (Committee member) / Arizona State University (Publisher)
Created2015