Context: Search-based software testing promises to provide users with the ability to generate high-quality test cases, and hence increase product quality, with a minimal increase in the time and effort required. One result that emerged out of a previous study to investigate the application of search-based software testing (SBST) in an industrial setting was the development of the Interactive Search-Based Software Testing (ISBST) system. ISBST allows users to interact with the underlying SBST system, guiding the search and assessing the results. An industrial evaluation indicated that the ISBST system could find test cases that are not created by testers employing manual techniques. The validity of the evaluation was threatened, however, by the low number of participants. Objective: This paper presents a follow-up study, to provide a more rigorous evaluation of the ISBST system. Method: To assess the ISBST system a two-way crossover controlled experiment was conducted with 58 students taking a Verification and Validation course. The NASA Task Load Index (NASA-TLX) is used to assess the workload experienced by the participants in the experiment. Results: The experimental results validated the hypothesis that the ISBST system generates test cases that are not found by the same participants employing manual testing techniques. A follow-up laboratory experiment also investigates the importance of interaction in obtaining the results. In addition to this main result, the subjective workload was assessed for each participant by means of the NASA-TLX tool. The evaluation showed that, while the ISBST system required more effort from the participants, they achieved the same performance. Conclusions: The paper provides evidence that the ISBST system develops test cases that are not found by manual techniques, and that interaction plays an important role in achieving that result.
At the lowest level, interaction can be very detailed. Bush and Sayama @cite_6 require the human to be the main driver of the search process'' by selecting the individuals and the evolutionary operators to be applied.
@cite_6
2170782527 2140542425 1989560997 2570393549
People regularly face tasks that can be understood as navigation in information networks, where the goal is to find a path between two given nodes. In many such situations, the navigator only gets local access to the node currently under inspection and its immediate neighbors. This lack of global information about the network notwithstanding, humans tend to be good at finding short paths, despite the fact that realworld networks are typically very large. One potential reason for this could be that humans possess vast amounts of background knowledge about the world, which they leverage to make good guesses about possible solutions. In this paper we ask the question: Are human-like high-level reasoning skills really necessary for finding short paths? To answer this question, we design a number of navigation agents without such skills, which use only simple numerical features. We evaluate the agents on the task of navigating Wikipedia, a domain for which we also possess large-scale human navigation data. We observe that the agents find shorter paths than humans on average and therefore conclude that, perhaps surprisingly, no sophisticated background knowledge or high-level reasoning is required for navigating the complex Wikipedia network. We consider the problem of navigating a mobile robot through dense human crowds. We begin by exploring a fundamental impediment to classical motion planning algorithms called the âfreezing robot problemâ: once the environment surpasses a certain level of dynamic complexity, the planner decides that all forward paths are unsafe, and the robot freezes in place or performs unnecessary maneuvers to avoid collisions. We argue that this problem can be avoided if the robot anticipates human cooperation, and accordingly we develop interacting Gaussian processes, a prediction density that captures cooperative collision avoidance, and a âmultiple goalâ extension that models the goal-driven nature of human decision making. We validate this model with an empirical study of robot navigation in dense human crowds 488 runs, specifically testing how cooperation models effect navigation performance. The multiple goal interacting Gaussian processes algorithm performs comparably with human teleoperators in crowd densities nearing 0.8 humans m2, while a state-of-the-art non-cooperative planner exhibits unsafe behavior more than three times as often as the multiple goal extension, and twice as often as the basic interacting Gaussian process approach. Furthermore, a reactive planner based on the widely used dynamic window approach proves insufficient for crowd densities above 0.55 people m2. We also show that our non-cooperative planner or our reactive planner capture the salient characteristics of nearly any dynamic navigation algorithm. Based on these experimental results and theoretical observations, we conclude that a cooperation model is critical for safe and efficient robot navigation in dense human crowds. We introduce an approach for learning human actions as interactions between persons and objects in realistic videos. Previous work typically represents actions with low-level features such as image gradients or optical flow. In contrast, we explicitly localize in space and track over time both the object and the person, and represent an action as the trajectory of the object w.r.t. to the person position. Our approach relies on state-of-the-art techniques for human detection [32], object detection [10], and tracking [39]. We show that this results in human and object tracks of sufficient quality to model and localize human-object interactions in realistic videos. Our human-object interaction features capture the relative trajectory of the object w.r.t. the human. Experimental results on the Coffee and Cigarettes dataset [25], the video dataset of [19], and the Rochester Daily Activities dataset [29] show that 1) our explicit human-object model is an informative cue for action recognition; 2) it is complementary to traditional low-level descriptors such as 3D--HOG [23] extracted over human tracks. We show that combining our human-object interaction features with 3D-HOG improves compared to their individual performance as well as over the state of the art [23], [29]. We propose a humanoid robot navigation planning framework that reuses previous experience to decrease planning time. The framework is intended for navigating complex unstructured environments using both palm and foot contacts. In a complex environment, discrete-search-based contact space planners trade-off between high branching factor and action flexibility. Although approaches such as weighted A∗, ARA∗ and ANA∗ could speed up the search by compromising on optimality, they can be very slow when the heuristic is inaccurate. In the proposed framework, an experience-retrieval module is added in parallel to ANA∗. This module collects previously-generated motion plans and clusters them based on contact pose similarity to form a motion plan library. To retrieve an appropriate plan from the library for a given environment, the framework uses a distance between the contact poses in the plan and environment surfaces. Candidate plans are then modified with local trajectory optimization until a plan fitting the query environment is found. Our experiments show that the proposed framework outperforms planning-from-scratch in success rate in unstructured environments by at least 28 and can navigate difficult environments such as rubble and narrow corridors.