The area of proof-based verified computation (outsourced computation built atop probabilistically checkable proofs and cryptographic machinery) has lately seen renewed interest. Although recent work has made great strides in reducing the overhead of naive applications of the theory, these schemes still cannot be considered practical. A core issue is that the work for the server is immense, in general; it is practical only for hand-compiled computations that can be expressed in special forms.

We consider interactive, proof-based verifiable computation: how can a client machine specify a computation to a server, receive an answer, and then engage the server in an interactive protocol that convinces the client that the answer is correct, with less work for the client than executing the computation in the first place? Complexity theory and cryptography offer solutions in principle, but if implemented naively, they are ludicrously expensive. Recently, however, several strands of work have refined this theory and implemented the resulting protocols in actual systems. This work is promising but suffers from one of two problems: either it relies on expensive cryptography, or else it applies to a restricted class of computations. Worse, it is not always clear which protocol will perform better for a given problem.We describe a system that (a) extends optimized refinements of the non-cryptographic protocols to a much broader class of computations, (b) uses static analysis to fail over to the cryptographic ones when the non-cryptographic ones would be more expensive, and (c) incorporates this core into a built system that includes a compiler for a high-level language, a distributed server, and GPU acceleration. Experimental results indicate that our system performs better and applies more widely than the best in the literature.

This paper presents the design and learning architecture for an omnidirectional walk used by a humanoid robot soccer agent acting in the RoboCup 3D simulation environment. The walk, which was originally designed for and tested on an actual Nao robot before being employed in the 2011 RoboCup 3D simulation competition, was the crucial component in the UT Austin Villa team winning the competition in 2011. To the best of our knowledge, this is the first time that robot behavior has been conceived and constructed on a real robot for the end purpose of being used in simulation. The walk is based on a double linear inverted pendulum model, and multiple sets of its parameters are optimized via a novel framework. The framework optimizes parameters for different tasks in conjunction with one another, a little-understood problem with substantial practical significance. Detailed experiments show that the UT Austin Villa agent significantly outperforms all the other agents in the competition with the optimized walk being the key to its success.