Search for: All records

The goal ofprogrammatic Learning from Demonstration (LfD)is to learn a policy in a programming language that can be used to control a robot’s behavior from a set of user demonstrations. This paper presents a new programmatic LfD algorithm that targetslong-horizon robot taskswhich require synthesizing programs with complex control flow structures, including nested loops with multiple conditionals. Our proposed method first learns a program sketch that captures the target program’s control flow and then completes this sketch using an LLM-guided search procedure that incorporates a novel technique for proving unrealizability of programming-by-demonstration problems. We have implemented our approach in a new tool calledprolexand present the results of a comprehensive experimental evaluation on 120 benchmarks involving complex tasks and environments. We show that, given a 120 second time limit,prolexcan find a program consistent with the demonstrations in 80% of the cases. Furthermore, for 81% of the tasks for which a solution is returned,prolexis able to find the ground truth program with just one demonstration. In comparison, CVC5, a syntaxguided synthesis tool, is only able to solve 25% of the caseseven when given the ground truth program sketch, and an LLM-based approach, GPT-Synth, is unable to solve any of the tasks due to the environment complexity. 

We present a new general-purpose synthesis technique for generating programs from input-output examples. Our method, called metric program synthesis, relaxes the observational equivalence idea (used widely in bottom-up enumerative synthesis) into a weaker notion of observational similarity, with the goal of reducing the search space that the synthesizer needs to explore. Our method clusters programs into equivalence classes based on an expert-provided distance metric and constructs a version space that compactly represents “approximately correct” programs. Then, given a “close enough” program sampled from this version space, our approach uses a distance-guided repair algorithm to find a program that exactly matches the given input-output examples. We have implemented our proposed metric program synthesis technique in a tool called SyMetric and evaluate it in three different domains considered in prior work. Our evaluation shows that SyMetric outperforms other domain-agnostic synthesizers that use observational equivalence and that it achieves results competitive with domain-specific synthesizers that are either designed for or trained on those domains. 

Many data extraction tasks of practical relevance require not only syntactic pattern matching but also semantic reasoning about the content of the underlying text. While regular expressions are very well suited for tasks that require only syntactic pattern matching, they fall short for data extraction tasks that involve both a syntactic and semantic component. To address this issue, we introduce semantic regexes, a generalization of regular expressions that facilitates combined syntactic and semantic reasoning about textual data. We also propose a novel learning algorithm that can synthesize semantic regexes from a small number of positive and negative examples. Our proposed learning algorithm uses a combination of neural sketch generation and compositional type-directed synthesis for fast and effective generalization from a small number of examples. We have implemented these ideas in a new tool called Smore and evaluated it on representative data extraction tasks involving several textual datasets. Our evaluation shows that semantic regexes can better support complex data extraction tasks than standard regular expressions and that our learning algorithm significantly outperforms existing tools, including state-of-the-art neural networks and program synthesis tools. 

Many data processing systems allow SQL queries that calluser-defined functions (UDFs)written in conventional programming languages. While such SQL extensions provide convenience and flexibility to users, queries involving UDFs are not as efficient as their pure SQL counterparts that invoke SQL’s highly-optimized built-in functions. Motivated by this problem, we propose a new technique for translating SQL queries with UDFs to pure SQL expressions. Unlike prior work in this space, our method is not based on syntactic rewrite rules and can handle a much more general class of UDFs. At a high-level, our method is based on counterexample-guided inductive synthesis (CEGIS) but employs a novel compositional strategy that decomposes the synthesis task into simpler sub-problems. However, because there is no universal decomposition strategy that works for all UDFs, we propose a novellazy inductive synthesisapproach that generates a sequence of decompositions that correspond to increasingly harder inductive synthesis problems. Because most realistic UDF-to-SQL translation tasks are amenable to a fine-grained decomposition strategy, our lazy inductive synthesis method scales significantly better than traditional CEGIS. We have implemented our proposed technique in a tool called CLIS for optimizing Spark SQL programs containing Scala UDFs. To evaluate CLIS, we manually study 100 randomly selected UDFs and find that 63 of them can be expressed in pure SQL. Our evaluation on these 63 UDFs shows that CLIS can automatically synthesize equivalent SQL expressions in 92% of the cases and that it can solve 2.4× more benchmarks compared to a baseline that does not use our compositional approach. We also show that CLIS yields an average speed-up of 3.5× for individual UDFs and 1.3× to 3.1× in terms of end-to-end application performance.