Tao Chen

Jingzhi Gong, Tao Chen

Performance is arguably the most crucial attribute that reflects the quality of a configurable software system. However, given the increasing scale and complexity of modern software, modeling and predicting how various configurations can impact performance becomes one of the major challenges in software maintenance. As such, performance is often modeled without having a thorough knowledge of the software system, but relying mainly on data, which fits precisely with the purpose of deep learning. In this paper, we conduct a comprehensive review exclusively on the topic of deep learning for performance learning of configurable software, covering 1,206 searched papers spanning six indexing services, based on which 99 primary papers were extracted and analyzed. Our results outline key statistics, taxonomy, strengths, weaknesses, and optimal usage scenarios for techniques related to the preparation of configuration data, the construction of deep learning performance models, the evaluation of these models, and their utilization in various software configuration-related tasks.We also identify the good practices and potentially problematic phenomena from the studies surveyed, together with a comprehensive summary of actionable suggestions and insights into future opportunities within the field. To promote open science, all the raw results of this survey can be accessed at our repository: https://github.com/ideas-labo/DCPL-SLR.

Marcel Torne, Anthony Simeonov, Zechu Li et al.

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment autonomously to learn robust behaviors but may require impractical amounts of unsafe real-world data collection. To learn performant, robust policies without the burden of unsafe real-world data collection or extensive human supervision, we propose RialTo, a system for robustifying real-world imitation learning policies via reinforcement learning in "digital twin" simulation environments constructed on the fly from small amounts of real-world data. To enable this real-to-sim-to-real pipeline, RialTo proposes an easy-to-use interface for quickly scanning and constructing digital twins of real-world environments. We also introduce a novel "inverse distillation" procedure for bringing real-world demonstrations into simulated environments for efficient fine-tuning, with minimal human intervention and engineering required. We evaluate RialTo across a variety of robotic manipulation problems in the real world, such as robustly stacking dishes on a rack, placing books on a shelf, and six other tasks. RialTo increases (over 67%) in policy robustness without requiring extensive human data collection. Project website and videos at https://real-to-sim-to-real.github.io/RialTo/