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Recent development of large language models (LLMs) for code like CodeX and CodeT5+ demonstrates tremendous promise in achieving code intelligence. Their ability of synthesizing code that completes a program for performing a pre-defined task has been intensively tested and verified on benchmark datasets including HumanEval and MBPP. Yet, evaluation of these LLMs from more perspectives (than just program synthesis) is also anticipated, considering their broad scope of applications in software engineering. In this paper, we explore the ability of LLMs for testing programs/code. By performing thorough analyses of recent LLMs for code in program testing, we show a series of intriguing properties of these models and demonstrate how program testing ability of LLMs can be improved. Following recent work which utilizes generated test cases to enhance program synthesis, we further leverage our findings in improving the quality of the synthesized programs and show +11.77% and +4.22% higher code pass rates on HumanEval+ comparing with the GPT-3.5-turbo baseline and the recent state-of-the-art, respectively.

Image-based depth estimation has gained significant attention in recent research on computer vision for autonomous vehicles in intelligent transportation systems. This focus stems from its cost-effectiveness and wide range of potential applications. Unlike binocular depth estimation methods that require two fixed cameras, monocular depth estimation methods only rely on a single camera, making them highly versatile. While state-of-the-art approaches for this task leverage self-supervised learning of deep neural networks in conjunction with tasks like pose estimation and semantic segmentation, none of them have explored the combination of federated learning and self-supervision to train models using unlabeled and private data captured by autonomous vehicles. The utilization of federated learning offers notable benefits, including enhanced privacy protection, reduced network consumption, and improved resilience to connectivity issues. To address this gap, we propose FedSCDepth, a novel method that combines federated learning and deep self-supervision to enable the learning of monocular depth estimators with comparable effectiveness and superior efficiency compared to the current state-of-the-art methods. Our evaluation experiments conducted on Eigen's Split of the KITTI dataset demonstrate that our proposed method achieves near state-of-the-art performance, with a test loss below 0.13 and requiring, on average, only 1.5k training steps and up to 0.415 GB of weight data transfer per autonomous vehicle on each round.

Academic writing process has benefited from various technological developments over the years including search engines, automatic translators, and editing tools that review grammar and spelling mistakes. They have enabled human writers to become more efficient in writing academic papers, for example by helping with finding relevant literature more effectively and polishing texts. While these developments have so far played a relatively assistive role, recent advances in large-scale language models (LLMs) have enabled LLMs to play a more major role in the writing process, such as coming up with research questions and generating key contents. This raises critical questions surrounding the concept of authorship in academia. ChatGPT, a question-answering system released by OpenAI in November 2022, has demonstrated a range of capabilities that could be utilised in producing academic papers. The academic community will have to address relevant pressing questions, including whether Artificial Intelligence (AI) should be merited authorship if it made significant contributions in the writing process, or whether its use should be restricted such that human authorship would not be undermined. In this paper, we aim to address such questions, and propose a framework we name "PaperCard", a documentation for human authors to transparently declare the use of AI in their writing process.

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the ability to handle tasks with varying geometry. To reduce the need for a priori models, we propose a framework for estimating contact models online based on torque and position measurements. To do this, compliant contact models are used, connected in parallel to model multi-point contact and constraints such as a hinge. They are parameterized to be differentiable with respect to all of their parameters (rest position, stiffness, contact location), allowing the coupled robot/environment dynamics to be linearized or efficiently used in gradient-based optimization. These models are then applied for: offline gradient-based parameter fitting, online estimation via an extended Kalman filter, and online gradient-based MPC. The proposed approach is validated on two robots, showing the efficacy of sensorless contact estimation and the effects of online estimation on MPC performance.

With the increasing prevalence of encrypted network traffic, cyber security analysts have been turning to machine learning (ML) techniques to elucidate the traffic on their networks. However, ML models can become stale as new traffic emerges that is outside of the distribution of the training set. In order to reliably adapt in this dynamic environment, ML models must additionally provide contextualized uncertainty quantification to their predictions, which has received little attention in the cyber security domain. Uncertainty quantification is necessary both to signal when the model is uncertain about which class to choose in its label assignment and when the traffic is not likely to belong to any pre-trained classes. We present a new, public dataset of network traffic that includes labeled, Virtual Private Network (VPN)-encrypted network traffic generated by 10 applications and corresponding to 5 application categories. We also present an ML framework that is designed to rapidly train with modest data requirements and provide both calibrated, predictive probabilities as well as an interpretable "out-of-distribution" (OOD) score to flag novel traffic samples. We describe calibrating OOD scores using p-values of the relative Mahalanobis distance. We demonstrate that our framework achieves an F1 score of 0.98 on our dataset and that it can extend to an enterprise network by testing the model: (1) on data from similar applications, (2) on dissimilar application traffic from an existing category, and (3) on application traffic from a new category. The model correctly flags uncertain traffic and, upon retraining, accurately incorporates the new data.

While personalized recommendations systems have become increasingly popular, ensuring user data protection remains a paramount concern in the development of these learning systems. A common approach to enhancing privacy involves training models using anonymous data rather than individual data. In this paper, we explore a natural technique called \emph{look-alike clustering}, which involves replacing sensitive features of individuals with the cluster's average values. We provide a precise analysis of how training models using anonymous cluster centers affects their generalization capabilities. We focus on an asymptotic regime where the size of the training set grows in proportion to the features dimension. Our analysis is based on the Convex Gaussian Minimax Theorem (CGMT) and allows us to theoretically understand the role of different model components on the generalization error. In addition, we demonstrate that in certain high-dimensional regimes, training over anonymous cluster centers acts as a regularization and improves generalization error of the trained models. Finally, we corroborate our asymptotic theory with finite-sample numerical experiments where we observe a perfect match when the sample size is only of order of a few hundreds.

Frequent modifications of unit test cases are inevitable due to software's continuous underlying changes in source code, design, and requirements. Since manually maintaining software test suites is tedious, timely, and costly, automating the process of generation and maintenance of test units will significantly impact the effectiveness and efficiency of software testing processes. To this end, we propose an automated approach which exploits both structural and semantic properties of source code methods and test cases to recommend the most relevant and useful unit tests to the developers. The proposed approach initially trains a neural network to transform method-level source code, as well as unit tests, into distributed representations (embedded vectors) while preserving the importance of the structure in the code. Retrieving the semantic and structural properties of a given method, the approach computes cosine similarity between the method's embedding and the previously-embedded training instances. Further, according to the similarity scores between the embedding vectors, the model identifies the closest methods of embedding and the associated unit tests as the most similar recommendations. The results on the Methods2Test dataset showed that, while there is no guarantee to have similar relevant test cases for the group of similar methods, the proposed approach extracts the most similar existing test cases for a given method in the dataset, and evaluations show that recommended test cases decrease the developers' effort to generating expected test cases.

Despite the advancement of machine learning techniques in recent years, state-of-the-art systems lack robustness to "real world" events, where the input distributions and tasks encountered by the deployed systems will not be limited to the original training context, and systems will instead need to adapt to novel distributions and tasks while deployed. This critical gap may be addressed through the development of "Lifelong Learning" systems that are capable of 1) Continuous Learning, 2) Transfer and Adaptation, and 3) Scalability. Unfortunately, efforts to improve these capabilities are typically treated as distinct areas of research that are assessed independently, without regard to the impact of each separate capability on other aspects of the system. We instead propose a holistic approach, using a suite of metrics and an evaluation framework to assess Lifelong Learning in a principled way that is agnostic to specific domains or system techniques. Through five case studies, we show that this suite of metrics can inform the development of varied and complex Lifelong Learning systems. We highlight how the proposed suite of metrics quantifies performance trade-offs present during Lifelong Learning system development - both the widely discussed Stability-Plasticity dilemma and the newly proposed relationship between Sample Efficient and Robust Learning. Further, we make recommendations for the formulation and use of metrics to guide the continuing development of Lifelong Learning systems and assess their progress in the future.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.