Tomas Petricek

Jonathan Edwards, Tomas Petricek

Many beloved programming systems are image-based: self-contained worlds that persist both code and data in a single file. Examples include Smalltalk, LISP, HyperCard, Flash, and spreadsheets. Image-based programming avoids much of the complexity of modern programming technology stacks and encourages more casual and exploratory programming. However conventional file-based programming has better support for collaboration and deployment. These problems have been blamed for the limited commercial success of Smalltalk. We propose to enable collaboration in image-based programming via types and structure editing. We focus on the problem of schema change on persistent data. We turn to static types, which paradoxically require more schema change but also provide a mechanism to express and execute those changes. To determine those changes we turn to structure editing, so that we can capture changes in type definitions with sufficient fidelity to automatically adapt the data to suit. We conjecture that typical schema changes can be handled through structure editing of static types. That positions us to tackle collaboration with what could be called version control for structure editing. We present a theory realizing this idea, which is our main technical contribution. While we focus here on editing types, if we can extend the approach to cover the entire programming experience then it would offer a new way to collaborate in image-based programming.

Karel Zimmermann, Tomas Petricek, Vojtech Salansky et al.

We propose an active 3D mapping method for depth sensors, which allow individual control of depth-measuring rays, such as the newly emerging solid-state lidars. The method simultaneously (i) learns to reconstruct a dense 3D occupancy map from sparse depth measurements, and (ii) optimizes the reactive control of depth-measuring rays. To make the first step towards the online control optimization, we propose a fast prioritized greedy algorithm, which needs to update its cost function in only a small fraction of pos- sible rays. The approximation ratio of the greedy algorithm is derived. An experimental evaluation on the subset of the KITTI dataset demonstrates significant improve- ment in the 3D map accuracy when learning-to-reconstruct from sparse measurements is coupled with the optimization of depth-measuring rays.

Tomas Petricek

Computer programs do not always work as expected. In fact, ominous warnings about the desperate state of the software industry continue to be released with almost ritualistic regularity. In this paper, we look at the 60 years history of programming and at the different practical methods that software community developed to live with programming errors. We do so by observing a class of students discussing different approaches to programming errors. While learning about the different methods for dealing with errors, we uncover basic assumptions that proponents of different paradigms follow. We learn about the mathematical attempt to eliminate errors through formal methods, scientific method based on testing, a way of building reliable systems through engineering methods, as well as an artistic approach to live coding that accepts errors as a creative inspiration. This way, we can explore the differences and similarities among the different paradigms. By inviting proponents of different methods into a single discussion, we hope to open potential for new thinking about errors. When should we use which of the approaches? And what can software development learn from mathematics, science, engineering and art? When programming or studying programming, we are often enclosed in small communities and we take our basic assumptions for granted. Through the discussion in this paper, we attempt to map the large and rich space of programming ideas and provide reference points for exploring, perhaps foreign, ideas that can challenge some of our assumptions.

Tomas Petricek, Don Syme, Zach Bray

Most programming languages were designed before the age of web. This matters because the web changes many assumptions that typed functional language designers take for granted. For example, programs do not run in a closed world, but must instead interact with (changing and likely unreliable) services and data sources, communication is often asynchronous or event-driven, and programs need to interoperate with untyped environments. In this paper, we present how the F# language and libraries face the challenges posed by the web. Technically, this comprises using type providers for integration with external information sources and for integration with untyped programming environments, using lightweight meta-programming for targeting JavaScript and computation expressions for writing asynchronous code. In this inquiry, the holistic perspective is more important than each of the features in isolation. We use a practical case study as a starting point and look at how F# language and libraries approach the challenges posed by the web. The specific lessons learned are perhaps less interesting than our attempt to uncover hidden assumptions that no longer hold in the age of web.