Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resiliency to workforce fluctuations. The past few years have seen increased interest in automating such repeated tasks but mostly in controlled settings. Tasks such as picking objects from unstructured, cluttered piles have only recently become robust enough for large-scale deployment with minimal human intervention. This paper demonstrates a large-scale package manipulation from unstructured piles in Amazon Robotics' Robot Induction (Robin) fleet, which utilizes a pick success predictor trained on real production data. Specifically, the system was trained on over 394K picks. It is used for singulating up to 5 million packages per day and has manipulated over 200 million packages during this paper's evaluation period. The developed learned pick quality measure ranks various pick alternatives in real-time and prioritizes the most promising ones for execution. The pick success predictor aims to estimate from prior experience the success probability of a desired pick by the deployed industrial robotic arms in cluttered scenes containing deformable and rigid objects with partially known properties. It is a shallow machine learning model, which allows us to evaluate which features are most important for the prediction. An online pick ranker leverages the learned success predictor to prioritize the most promising picks for the robotic arm, which are then assessed for collision avoidance. This learned ranking process is demonstrated to overcome the limitations and outperform the performance of manually engineered and heuristic alternatives. To the best of the authors' knowledge, this paper presents the first large-scale deployment of learned pick quality estimation methods in a real production system.

Proof by induction is a long-standing challenge in Computer Science. Induction tactics of proof assistants facilitate proof by induction, but rely on humans to manually specify how to apply induction. In this paper, we present SeLFiE, a domain-specific language to encode experienced users' expertise on how to apply the induct tactic in Isabelle/HOL: when we apply an induction heuristic written in SeLFiE to an inductive problem and arguments to the induct tactic, the SeLFiE interpreter examines both the syntactic structure of the problem and semantics of the relevant constants to judge whether the arguments to the induct tactic are plausible according to the heuristic. Then, we present semantic_induct, an automatic tool to recommend how to apply the induct tactic. Given an inductive problem, semantic_induct produces candidate arguments to the induct tactic and selects promising ones using heuristics written in SeLFiE. Our evaluation based on 254 inductive problems from nine problem domains show that semantic_induct achieved 15.7 percentage points of improvements in coincidence rates for the three most promising recommendations while achieving 43% of reduction in the median value for the execution time when compared to an existing tool, smart_induct.

Proof assistants offer tactics to facilitate inductive proofs. However, it still requires human ingenuity to decide what arguments to pass to those induction tactics. To automate this process, we present smart_induct for Isabelle/HOL. Given an inductive problem in any problem domain, smart_induct lists promising arguments for the induct tactic without relying on a search. Our evaluation demonstrated smart_induct produces valuable recommendations across problem domains.