OpenRaiser/Intern-Atlas huggingface dataset:
How to Identify Boundary Conditions with Contrasty Metric?
Venue: arXiv cs.SE 2021
Year: 2021

The boundary conditions (BCs) have shown great potential in requirements engineering because a BC captures the particular combination of circumstances, i.e., divergence, in which the goals of the requirement cannot be satisfied as a whole. Existing researches have attempted to automatically identify lots of BCs. Unfortunately, a large number of identified BCs make assessing and resolving divergences expensive. Existing methods adopt a coarse-grained metric, generality, to filter out less general BCs. However, the results still retain a large number of redundant BCs since a general BC potentially captures redundant circumstances that do not lead to a divergence. Furthermore, the likelihood of BC can be misled by redundant BCs resulting in costly repeatedly assessing and resolving divergences. In this paper, we present a fine-grained metric to filter out the redundant BCs. We first introduce the concept of contrasty of BC. Intuitively, if two BCs are contrastive, they capture different divergences. We argue that a set of contrastive BCs should be recommended to engineers, rather than a set of general BCs that potentially only indicates the same divergence. Then we design a post-processing framework (PPAc) to produce a set of contrastive BCs after identifying BCs. Experimental results show that the contrasty metric dramatically reduces the number of BCs recommended to engineers. Results also demonstrate that lots of BCs identified by the state-of-the-art method are redundant in most cases. Besides, to improve efficiency, we propose a joint framework (JAc) to interleave assessing based on the contrasty metric with identifying BCs. The primary intuition behind JAc is that it considers the search bias toward contrastive BCs during identifying BCs, thereby pruning the BCs capturing the same divergence. Experiments confirm the improvements of JAc in identifying contrastive BCs.
A Fault Localization and Debugging Support Framework driven by Bug Tracking Data
Venue: arXiv cs.SE 2021
Year: 2021

Fault localization has been determined as a major resource factor in the software development life cycle. Academic fault localization techniques are mostly unknown and unused in professional environments. Although manual debugging approaches can vary significantly depending on bug type (e.g. memory bugs or semantic bugs), these differences are not reflected in most existing fault localization tools. Little research has gone into automated identification of bug types to optimize the fault localization process. Further, existing fault localization techniques leverage on historical data only for augmentation of suspiciousness rankings. This thesis aims to provide a fault localization framework by combining data from various sources to help developers in the fault localization process. To achieve this, a bug classification schema is introduced, benchmarks are created, and a novel fault localization method based on historical data is proposed.
$S^3$: Learnable Sparse Signal Superdensity for Guided Depth Estimation
Venue: arXiv cs.CV 2021
Year: 2021

Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation, the improvement is limited due to its low density and imbalanced distribution. To maximize the utility from the sparse source, we propose $S^3$ technique, which expands the depth value from sparse cues while estimating the confidence of expanded region. The proposed $S^3$ can be applied to various guided depth estimation approaches and trained end-to-end at different stages, including input, cost volume and output. Extensive experiments demonstrate the effectiveness, robustness, and flexibility of the $S^3$ technique on LiDAR and Radar signal.
Advancing Mixture Models for Least Squares Optimization
Venue: arXiv cs.RO 2021
Year: 2021

Gaussian mixtures are a powerful and widely used tool to model non-Gaussian estimation problems. They are able to describe measurement errors that follow arbitrary distributions and can represent ambiguity in assignment tasks like point set registration or tracking. However, using them with common least squares solvers is still difficult. Existing approaches are either approximations of the true mixture or prone to convergence issues due to their strong nonlinearity. We propose a novel least squares representation of a Gaussian mixture, which is an exact and almost linear model of the corresponding log-likelihood. Our approach provides an efficient, accurate and flexible model for many probabilistic estimation problems and can be used as cost function for least squares solvers. We demonstrate its superior performance in various Monte Carlo experiments, including different kinds of point set registration. Our implementation is available as open source code for the state-of-the-art solvers Ceres and GTSAM.
Graph and Network Theory for the analysis of Criminal Networks
Venue: arXiv cs.SI 2021
Year: 2021

Social Network Analysis is the use of Network and Graph Theory to study social phenomena, which was found to be highly relevant in areas like Criminology. This chapter provides an overview of key methods and tools that may be used for the analysis of criminal networks, which are presented in a real-world case study. Starting from available juridical acts, we have extracted data on the interactions among suspects within two Sicilian Mafia clans, obtaining two weighted undirected graphs. Then, we have investigated the roles of these weights on the criminal network's properties, focusing on two key features: weight distribution and shortest path length. We also present an experiment that aims to construct an artificial network that mirrors criminal behaviours. To this end, we have conducted a comparative degree distribution analysis between the real criminal networks, using some of the most popular artificial network models: Watts-Strogatz, Erdős-Rényi, and Barabási-Albert, with some topology variations. This chapter will be a valuable tool for researchers who wish to employ social network analysis within their own area of interest.
GLAMOUR: Graph Learning over Macromolecule Representations
Venue: arXiv cs.LG 2021
Year: 2021

The near-infinite chemical diversity of natural and artificial macromolecules arises from the vast range of possible component monomers, linkages, and polymers topologies. This enormous variety contributes to the ubiquity and indispensability of macromolecules but hinders the development of general machine learning methods with macromolecules as input. To address this, we developed GLAMOUR, a framework for chemistry-informed graph representation of macromolecules that enables quantifying structural similarity, and interpretable supervised learning for macromolecules.
D'ya like DAGs? A Survey on Structure Learning and Causal Discovery
Venue: arXiv cs.LG 2021
Year: 2021

Causal reasoning is a crucial part of science and human intelligence. In order to discover causal relationships from data, we need structure discovery methods. We provide a review of background theory and a survey of methods for structure discovery. We primarily focus on modern, continuous optimization methods, and provide reference to further resources such as benchmark datasets and software packages. Finally, we discuss the assumptive leap required to take us from structure to causality.
Compute and memory efficient universal sound source separation
Venue: arXiv cs.SD 2021
Year: 2021

Recent progress in audio source separation lead by deep learning has enabled many neural network models to provide robust solutions to this fundamental estimation problem. In this study, we provide a family of efficient neural network architectures for general purpose audio source separation while focusing on multiple computational aspects that hinder the application of neural networks in real-world scenarios. The backbone structure of this convolutional network is the SUccessive DOwnsampling and Resampling of Multi-Resolution Features (SuDoRM-RF) as well as their aggregation which is performed through simple one-dimensional convolutions. This mechanism enables our models to obtain high fidelity signal separation in a wide variety of settings where variable number of sources are present and with limited computational resources (e.g. floating point operations, memory footprint, number of parameters and latency). Our experiments show that SuDoRM-RF models perform comparably and even surpass several state-of-the-art benchmarks with significantly higher computational resource requirements. The causal variation of SuDoRM-RF is able to obtain competitive performance in real-time speech separation of around 10dB scale-invariant signal-to-distortion ratio improvement (SI-SDRi) while remaining up to 20 times faster than real-time on a laptop device.
A Robust Adversarial Network-Based End-to-End Communications System With Strong Generalization Ability Against Adversarial Attacks
Venue: arXiv cs.LG 2021
Year: 2021

We propose a novel defensive mechanism based on a generative adversarial network (GAN) framework to defend against adversarial attacks in end-to-end communications systems. Specifically, we utilize a generative network to model a powerful adversary and enable the end-to-end communications system to combat the generative attack network via a minimax game. We show that the proposed system not only works well against white-box and black-box adversarial attacks but also possesses excellent generalization capabilities to maintain good performance under no attacks. We also show that our GAN-based end-to-end system outperforms the conventional communications system and the end-to-end communications system with/without adversarial training.
Revisiting the Concrete Security of Goldreich's Pseudorandom Generator
Venue: arXiv cs.CR 2021
Year: 2021

Local pseudorandom generators are a class of fundamental cryptographic primitives having very broad applications in theoretical cryptography. Following Couteau et al.'s work in ASIACRYPT 2018, this paper further studies the concrete security of one important class of local pseudorandom generators, i.e., Goldreich's pseudorandom generators. Our first attack is of the guess-and-determine type. Our result significantly improves the state-of-the-art algorithm proposed by Couteau et al., in terms of both asymptotic and concrete complexity, and breaks all the challenge parameters they proposed. For instance, for a parameter set suggested for 128 bits of security, we could solve the instance faster by a factor of about $2^{61}$, thereby destroying the claimed security completely. Our second attack further exploits the extremely sparse structure of the predicate $P_5$ and combines ideas from iterative decoding. This novel attack, named guess-and-decode, substantially improves the guess-and-determine approaches for cryptographic-relevant parameters. All the challenge parameter sets proposed in Couteau et al.'s work in ASIACRYPT 2018 aiming for 80-bit (128-bit) security levels can be solved in about $2^{58}$ ($2^{78}$) operations. We suggest new parameters for achieving 80-bit (128-bit) security with respect to our attacks. We also extend the attack to other promising predicates and investigate their resistance.
An Empirical Analysis of UI-based Flaky Tests
Venue: arXiv cs.SE 2021
Year: 2021

Flaky tests have gained attention from the research community in recent years and with good reason. These tests lead to wasted time and resources, and they reduce the reliability of the test suites and build systems they affect. However, most of the existing work on flaky tests focus exclusively on traditional unit tests. This work ignores UI tests that have larger input spaces and more diverse running conditions than traditional unit tests. In addition, UI tests tend to be more complex and resource-heavy, making them unsuited for detection techniques involving rerunning test suites multiple times. In this paper, we perform a study on flaky UI tests. We analyze 235 flaky UI test samples found in 62 projects from both web and Android environments. We identify the common underlying root causes of flakiness in the UI tests, the strategies used to manifest the flaky behavior, and the fixing strategies used to remedy flaky UI tests. The findings made in this work can provide a foundation for the development of detection and prevention techniques for flakiness arising in UI tests.
A comprehensive survey on point cloud registration
Venue: arXiv cs.CV 2021
Year: 2021

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have improved registration robustness and efficiency. Recently, the combinations of optimization-based and deep learning methods have further improved performance. However, the connections between optimization-based and deep learning methods are still unclear. Moreover, with the recent development of 3D sensors and 3D reconstruction techniques, a new research direction emerges to align cross-source point clouds. This survey conducts a comprehensive survey, including both same-source and cross-source registration methods, and summarize the connections between optimization-based and deep learning methods, to provide further research insight. This survey also builds a new benchmark to evaluate the state-of-the-art registration algorithms in solving cross-source challenges. Besides, this survey summarizes the benchmark data sets and discusses point cloud registration applications across various domains. Finally, this survey proposes potential research directions in this rapidly growing field.
Uncertainty in Self-Adaptive Systems: A Research Community Perspective
Venue: arXiv cs.SE 2021
Year: 2021

One of the primary drivers for self-adaptation is ensuring that systems achieve their goals regardless of the uncertainties they face during operation. Nevertheless, the concept of uncertainty in self-adaptive systems is still insufficiently understood. Several taxonomies of uncertainty have been proposed, and a substantial body of work exists on methods to tame uncertainty. Yet, these taxonomies and methods do not fully convey the research community's perception on what constitutes uncertainty in self-adaptive systems and how to tackle it. To understand this perception and learn from it, we conducted a survey comprising two complementary stages. In the first stage, we focused on current research and development. In the second stage, we focused on directions for future research. The key findings of the first stage are: a) an overview of uncertainty sources considered in self-adaptive systems, b) an overview of existing methods used to tackle uncertainty in concrete applications, c) insights into the impact of uncertainty on non-functional requirements, d) insights into different opinions in the perception of uncertainty within the community, and the need for standardised uncertainty-handling processes to facilitate uncertainty management in self-adaptive systems. The key findings of the second stage are: a) the insight that over 70% of the participants believe that self-adaptive systems can be engineered to cope with unanticipated change, b) a set of potential approaches for dealing with unanticipated change, c) a set of open challenges in mitigating uncertainty in self-adaptive systems, in particular in those with safety-critical requirements. From these findings, we outline an initial reference process to manage uncertainty in self-adaptive systems.
A Modified Drake Equation for Assessing Adversarial Risk to Machine Learning Models
Venue: arXiv cs.LG 2021
Year: 2021

Machine learning models present a risk of adversarial attack when deployed in production. Quantifying the contributing factors and uncertainties using empirical measures could assist the industry with assessing the risk of downloading and deploying common model types. This work proposes modifying the traditional Drake Equation's formalism to estimate the number of potentially successful adversarial attacks on a deployed model. The Drake Equation is famously used for parameterizing uncertainties and it has been used in many research fields outside of its original intentions to estimate the number of radio-capable extra-terrestrial civilizations. While previous work has outlined methods for discovering vulnerabilities in public model architectures, the proposed equation seeks to provide a semi-quantitative benchmark for evaluating and estimating the potential risk factors for adversarial attacks.
Efficient data-driven encoding of scene motion using Eccentricity
Venue: arXiv cs.CV 2021
Year: 2021

This paper presents a novel approach of representing dynamic visual scenes with static maps generated from video/image streams. Such representation allows easy visual assessment of motion in dynamic environments. These maps are 2D matrices calculated recursively, in a pixel-wise manner, that is based on the recently introduced concept of Eccentricity data analysis. Eccentricity works as a metric of a discrepancy between a particular pixel of an image and its normality model, calculated in terms of mean and variance of past readings of the same spatial region of the image. While Eccentricity maps carry temporal information about the scene, actual images do not need to be stored nor processed in batches. Rather, all the calculations are done recursively, based on a small amount of statistical information stored in memory, thus resulting in a very computationally efficient (processor- and memory-wise) method. The list of potential applications includes video-based activity recognition, intent recognition, object tracking, video description, and so on.
Malware Classification with GMM-HMM Models
Venue: arXiv cs.CR 2021
Year: 2021

Discrete hidden Markov models (HMM) are often applied to malware detection and classification problems. However, the continuous analog of discrete HMMs, that is, Gaussian mixture model-HMMs (GMM-HMM), are rarely considered in the field of cybersecurity. In this paper, we use GMM-HMMs for malware classification and we compare our results to those obtained using discrete HMMs. As features, we consider opcode sequences and entropy-based sequences. For our opcode features, GMM-HMMs produce results that are comparable to those obtained using discrete HMMs, whereas for our entropy-based features, GMM-HMMs generally improve significantly on the classification results that we have achieved with discrete HMMs.
Application of Reversible Data Hiding for Printing with Special Color Inks to Preserve Compatibility with Normal Printing
Venue: arXiv cs.MM 2021
Year: 2021

We propose an efficient framework with compatibility between normal printing and printing with special color inks in this paper. Special color inks can be used for printing to represent some particular colors and specific optical properties, which are difficult to express using only CMYK inks. Special color layers are required in addition to the general color layer for printing with special color inks. We introduce a reversible data hiding (RDH) method to embed the special color layers into the general color layer without visible artifacts. The proposed method can realize both normal printing and printing with special color inks by using a single layer. Our experimental results show that the quality of the marked image is virtually identical to that of the original image, i.e., the general color layer.
Semantics-guided Skeletonization of Sweet Cherry Trees for Robotic Pruning
Venue: arXiv cs.RO 2021
Year: 2021

Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to reconstruct a model of a tree which is accurate and informative enough to be useful for deciding where to cut. One useful structure for modeling a tree is a skeleton: a 1D, lightweight representation of the geometry and the topology of a tree. This skeletonization problem is an important one within the field of computer graphics, and a number of algorithms have been specifically developed for the task of modeling trees. These skeletonization algorithms have largely addressed the problem as a geometric one. In agricultural contexts, however, the parts of the tree have distinct labels, such as the trunk, supporting branches, etc. This labeled structure is important for understanding where to prune. We introduce an algorithm which produces such a labeled skeleton, using the topological and geometric priors associated with these labels to improve our skeletons. We test our skeletonization algorithm on point clouds from 29 upright fruiting offshoot (UFO) trees and demonstrate a median accuracy of 70% with respect to a human-evaluated gold standard. We also make point cloud scans of 82 UFO trees open-source to other researchers. Our work represents a significant first step towards a robust tree modeling framework which can be used in an autonomous pruning system.
Data Augmentation for Object Detection via Differentiable Neural Rendering
Venue: arXiv cs.CV 2021
Year: 2021

It is challenging to train a robust object detector under the supervised learning setting when the annotated data are scarce. Thus, previous approaches tackling this problem are in two categories: semi-supervised learning models that interpolate labeled data from unlabeled data, and self-supervised learning approaches that exploit signals within unlabeled data via pretext tasks. To seamlessly integrate and enhance existing supervised object detection methods, in this work, we focus on addressing the data scarcity problem from a fundamental viewpoint without changing the supervised learning paradigm. We propose a new offline data augmentation method for object detection, which semantically interpolates the training data with novel views. Specifically, our new system generates controllable views of training images based on differentiable neural rendering, together with corresponding bounding box annotations which involve no human intervention. Firstly, we extract and project pixel-aligned image features into point clouds while estimating depth maps. We then re-project them with a target camera pose and render a novel-view 2d image. Objects in the form of keypoints are marked in point clouds to recover annotations in new views. Our new method is fully compatible with online data augmentation methods, such as affine transform, image mixup, etc. Extensive experiments show that our method, as a cost-free tool to enrich images and labels, can significantly boost the performance of object detection systems with scarce training data. Code is available at \url{https://github.com/Guanghan/DANR}.
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
Venue: arXiv cs.RO 2021
Year: 2021

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the Chebyshev center. Our solution is formulated as a quadratic programming problem without a priori computation of balance regions. We assess our approach with experiments highlighting switches between fixed and sliding contact modes in multi-contact configurations. A humanoid robot demonstrates such contact interchanges from fully-fixed to multi-sliding and also shuffling of the foot. The scenarios illustrate the performance of our control scheme in achieving the desired forces, CoM position attractor, and planned trajectories while actively maintaining balance.