Fuzzing has emerged as a powerful technique for finding security bugs in complicated real-world applications. American fuzzy lop (AFL), a leading fuzzing tool, has demonstrated its powerful bug finding ability through a vast number of reported CVEs. However, its random mutation strategy is unable to generate test inputs that satisfy complicated branching conditions (e.g., magic-byte comparisons, checksum tests, and nested if-statements), which are commonly used in image decoders/encoders, XML parsers, and checksum tools. Existing approaches (such as Steelix and Neuzz) on addressing this problem assume unrealistic assumptions such as we can satisfy the branch condition byte-to-byte or we can identify and focus on the important bytes in the input (called hot-bytes) once and for all. In this work, we propose an approach called \tool~which is designed based on the following principles. First, there is a complicated relation between inputs and branching conditions and thus we need not only an expressive model to capture such relationship but also an informative measure so that we can learn such relationship effectively. Second, different branching conditions demand different hot-bytes and we must adjust our fuzzing strategy adaptively depending on which branches are the current bottleneck. We implement our approach as an open source project and compare its efficiency with other state-of-the-art fuzzers. Our evaluation results on 10 real-world programs and LAVA-M dataset show that \tool~achieves sustained increases in branch coverage and discovers more bugs than other fuzzers.
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Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct methods from optimal control solve a constrained optimization problem. However, in many applications finding a proper cost function is inherently difficult because of the weighting of partially conflicting objectives. On the other hand, Imitation Learning (IL) methods such as Behavior Cloning (BC) provide an intuitive framework for learning decision-making from offline demonstrations and constitute a promising avenue for planning and control in complex robot applications. Prior work primarily relied on soft constraint approaches, which use additional auxiliary loss terms describing the constraints. However, catastrophic safety-critical failures might occur in out-of-distribution (OOD) scenarios. This work integrates the flexibility of IL with hard constraint handling in optimal control. Our approach constitutes a general framework for constraint robotic motion planning and control, as well as traffic agent simulation, whereas we focus on mobile robot and automated driving applications. Hard constraints are integrated into the learning problem in a differentiable manner, via explicit completion and gradient-based correction. Simulated experiments of mobile robot navigation and automated driving provide evidence for the performance of the proposed method.
A Generic Machine Learning Framework for Fully-Unsupervised Anomaly Detection with Contaminated Data
Anomaly detection (AD) tasks have been solved using machine learning algorithms in various domains and applications. The great majority of these algorithms use normal data to train a residual-based model, and assign anomaly scores to unseen samples based on their dissimilarity with the learned normal regime. The underlying assumption of these approaches is that anomaly-free data is available for training. This is, however, often not the case in real-world operational settings, where the training data may be contaminated with a certain fraction of abnormal samples. Training with contaminated data, in turn, inevitably leads to a deteriorated AD performance of the residual-based algorithms. In this paper we introduce a framework for a fully unsupervised refinement of contaminated training data for AD tasks. The framework is generic and can be applied to any residual-based machine learning model. We demonstrate the application of the framework to two public datasets of multivariate time series machine data from different application fields. We show its clear superiority over the naive approach of training with contaminated data without refinement. Moreover, we compare it to the ideal, unrealistic reference in which anomaly-free data would be available for training. Since the approach exploits information from the anomalies, and not only from the normal regime, it is comparable and often outperforms the ideal baseline as well.
Pre-captured immersive environments using omnidirectional cameras provide a wide range of virtual reality applications. Previous research has shown that manipulating the eye height in egocentric virtual environments can significantly affect distance perception and immersion. However, the influence of eye height in pre-captured real environments has received less attention due to the difficulty of altering the perspective after finishing the capture process. To explore this influence, we first propose a pilot study that captures real environments with multiple eye heights and asks participants to judge the egocentric distances and immersion. If a significant influence is confirmed, an effective image-based approach to adapt pre-captured real-world environments to the user's eye height would be desirable. Motivated by the study, we propose a learning-based approach for synthesizing novel views for omnidirectional images with altered eye heights. This approach employs a multitask architecture that learns depth and semantic segmentation in two formats, and generates high-quality depth and semantic segmentation to facilitate the inpainting stage. With the improved omnidirectional-aware layered depth image, our approach synthesizes natural and realistic visuals for eye height adaptation. Quantitative and qualitative evaluation shows favorable results against state-of-the-art methods, and an extensive user study verifies improved perception and immersion for pre-captured real-world environments.
Container technology, as the key enabler behind microservice architectures, is widely applied in Cloud and Edge Computing. A long and continuous running of operating system (OS) host-ing container-based services can encounter software aging that leads to performance deterioration and even causes system fail-ures. OS rejuvenation techniques can mitigate the impact of software aging but the rejuvenation trigger interval needs to be carefully determined to reduce the downtime cost due to rejuve-nation. This paper proposes a comprehensive semi-Markov-based approach to quantitatively evaluate the effect of OS reju-venation on the dependability and the performance of a con-tainer-based service. In contrast to the existing studies, we nei-ther restrict the distributions of time intervals of events to be exponential nor assume that backup resources are always avail-able. Through the numerical study, we show the optimal con-tainer-migration trigger intervals that can maximize the de-pendability or minimize the performance of a container-based service.
Copy-move forgery on speech (CMF), coupled with post-processing techniques, presents a great challenge to the forensic detection and localization of tampered areas. Most of the existing CMF detection approaches necessitate pre-segmentation of speech to facilitate similarity calculations among these segments. However, these approaches usually suffer from the problems of uncontrollable computational complexity and sensitivity to the presence of a word that is read multiple times within a speech recording. To address these issues, we propose a local feature tensors-based CMF detection algorithm that can transform duplicate detection and localization problems into a special tensor-matching procedure, accompanied by complete theoretical analysis as support. Through extensive experimentation, we have demonstrated that our method exhibits computational efficiency and robustness against post-processing techniques. Notably, it can effectively and blindly detect tampered segments, even those as short as a fractional second. These advantages highlight the promising potential of our approach for practical applications.
Package managers such as NPM have become essential for software development. The NPM repository hosts over 2 million packages and serves over 43 billion downloads every week. Unfortunately, the NPM dependency solver has several shortcomings. 1) NPM is greedy and often fails to install the newest versions of dependencies; 2) NPM's algorithm leads to duplicated dependencies and bloated code, which is particularly bad for web applications that need to minimize code size; 3) NPM's vulnerability fixing algorithm is also greedy, and can even introduce new vulnerabilities; and 4) NPM's ability to duplicate dependencies can break stateful frameworks and requires a lot of care to workaround. Although existing tools try to address these problems they are either brittle, rely on post hoc changes to the dependency tree, do not guarantee optimality, or are not composable. We present PacSolve, a unifying framework and implementation for dependency solving which allows for customizable constraints and optimization goals. We use PacSolve to build MaxNPM, a complete, drop-in replacement for NPM, which empowers developers to combine multiple objectives when installing dependencies. We evaluate MaxNPM with a large sample of packages from the NPM ecosystem and show that it can: 1) reduce more vulnerabilities in dependencies than NPM's auditing tool in 33% of cases; 2) chooses newer dependencies than NPM in 14% of cases; and 3) chooses fewer dependencies than NPM in 21% of cases. All our code and data is open and available.
Graph Neural Networks (GNN) has demonstrated the superior performance in many challenging applications, including the few-shot learning tasks. Despite its powerful capacity to learn and generalize from few samples, GNN usually suffers from severe over-fitting and over-smoothing as the model becomes deep, which limit the model scalability. In this work, we propose a novel Attentive GNN to tackle these challenges, by incorporating a triple-attention mechanism, \ie node self-attention, neighborhood attention, and layer memory attention. We explain why the proposed attentive modules can improve GNN for few-shot learning with theoretical analysis and illustrations. Extensive experiments show that the proposed Attentive GNN outperforms the state-of-the-art GNN-based methods for few-shot learning over the mini-ImageNet and Tiered-ImageNet datasets, with both inductive and transductive settings.
The task of detecting 3D objects in point cloud has a pivotal role in many real-world applications. However, 3D object detection performance is behind that of 2D object detection due to the lack of powerful 3D feature extraction methods. In order to address this issue, we propose to build a 3D backbone network to learn rich 3D feature maps by using sparse 3D CNN operations for 3D object detection in point cloud. The 3D backbone network can inherently learn 3D features from almost raw data without compressing point cloud into multiple 2D images and generate rich feature maps for object detection. The sparse 3D CNN takes full advantages of the sparsity in the 3D point cloud to accelerate computation and save memory, which makes the 3D backbone network achievable. Empirical experiments are conducted on the KITTI benchmark and results show that the proposed method can achieve state-of-the-art performance for 3D object detection.
Dense video captioning aims to generate text descriptions for all events in an untrimmed video. This involves both detecting and describing events. Therefore, all previous methods on dense video captioning tackle this problem by building two models, i.e. an event proposal and a captioning model, for these two sub-problems. The models are either trained separately or in alternation. This prevents direct influence of the language description to the event proposal, which is important for generating accurate descriptions. To address this problem, we propose an end-to-end transformer model for dense video captioning. The encoder encodes the video into appropriate representations. The proposal decoder decodes from the encoding with different anchors to form video event proposals. The captioning decoder employs a masking network to restrict its attention to the proposal event over the encoding feature. This masking network converts the event proposal to a differentiable mask, which ensures the consistency between the proposal and captioning during training. In addition, our model employs a self-attention mechanism, which enables the use of efficient non-recurrent structure during encoding and leads to performance improvements. We demonstrate the effectiveness of this end-to-end model on ActivityNet Captions and YouCookII datasets, where we achieved 10.12 and 6.58 METEOR score, respectively.
Object tracking is challenging as target objects often undergo drastic appearance changes over time. Recently, adaptive correlation filters have been successfully applied to object tracking. However, tracking algorithms relying on highly adaptive correlation filters are prone to drift due to noisy updates. Moreover, as these algorithms do not maintain long-term memory of target appearance, they cannot recover from tracking failures caused by heavy occlusion or target disappearance in the camera view. In this paper, we propose to learn multiple adaptive correlation filters with both long-term and short-term memory of target appearance for robust object tracking. First, we learn a kernelized correlation filter with an aggressive learning rate for locating target objects precisely. We take into account the appropriate size of surrounding context and the feature representations. Second, we learn a correlation filter over a feature pyramid centered at the estimated target position for predicting scale changes. Third, we learn a complementary correlation filter with a conservative learning rate to maintain long-term memory of target appearance. We use the output responses of this long-term filter to determine if tracking failure occurs. In the case of tracking failures, we apply an incrementally learned detector to recover the target position in a sliding window fashion. Extensive experimental results on large-scale benchmark datasets demonstrate that the proposed algorithm performs favorably against the state-of-the-art methods in terms of efficiency, accuracy, and robustness.
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