arXiv subjects

Fabio Ferreira

Publications and source records attributed to Fabio Ferreira.

24 records · Page 2Linked to original sources

arXiv2020

Beyond the Code: Mining Self-Admitted Technical Debt in Issue Tracker Systems

Self-admitted technical debt (SATD) is a particular case of Technical Debt (TD) where developers explicitly acknowledge their sub-optimal implementation decisions. Previous studies mine SATD by searching for specific TD-related terms in source code comments. By contrast, in this paper we argue that developers can admit technical debt by other means, e.g., by creating issues in tracking systems and labelling them as referring to TD. We refer to this type of SATD as issue-based SATD or just SATD-I. We study a sample of 286 SATD-I instances collected from five open source projects, including Microsoft Visual Studio and GitLab Community Edition. We show that only 29% of the studied SATD-I instances can be tracked to source code comments. We also show that SATD-I issues take more time to be closed, compared to other issues, although they are not more complex in terms of code churn. Besides, in 45% of the studied issues TD was introduced to ship earlier, and in almost 60% it refers to Design flaws. Finally, we report that most developers pay SATD-I to reduce its costs or interests (66%). Our findings suggest that there is space for designing novel tools to support technical debt management, particularly tools that encourage developers to create and label issues containing TD concerns.

cs.SE↗

arXiv2020

Noise Regularization for Conditional Density Estimation

Modelling statistical relationships beyond the conditional mean is crucial in many settings. Conditional density estimation (CDE) aims to learn the full conditional probability density from data. Though highly expressive, neural network based CDE models can suffer from severe over-fitting when trained with the maximum likelihood objective. Due to the inherent structure of such models, classical regularization approaches in the parameter space are rendered ineffective. To address this issue, we develop a model-agnostic noise regularization method for CDE that adds random perturbations to the data during training. We demonstrate that the proposed approach corresponds to a smoothness regularization and prove its asymptotic consistency. In our experiments, noise regularization significantly and consistently outperforms other regularization methods across seven data sets and three CDE models. The effectiveness of noise regularization makes neural network based CDE the preferable method over previous non- and semi-parametric approaches, even when training data is scarce.

stat.ML↗

arXiv2019

Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive bias, we can shift the learning process towards exploiting relations. In this work, we learn action-conditional forward dynamics models of a simulated manipulation task from visual observations involving cluttered and irregularly shaped objects. We investigate two GNN approaches and empirically assess their capability to generalize to scenarios with novel and an increasing number of objects. The first, Graph Networks (GN) based approach, considers explicitly defined edge attributes and not only does it consistently underperform an auto-encoder baseline that we modified to predict future states, our results indicate how different edge attributes can significantly influence the predictions. Consequently, we develop the Auto-Predictor that does not rely on explicitly defined edge attributes. It outperforms the baseline and the GN-based models. Overall, our results show the sensitivity of GNN-based approaches to the task representation, the efficacy of relational inductive biases and advocate choosing lightweight approaches that implicitly reason about relations over ones that leave these decisions to human designers.

cs.LG↗

arXiv2019

Conditional Density Estimation with Neural Networks: Best Practices and Benchmarks

Given a set of empirical observations, conditional density estimation aims to capture the statistical relationship between a conditional variable $\mathbf{x}$ and a dependent variable $\mathbf{y}$ by modeling their conditional probability $p(\mathbf{y}|\mathbf{x})$. The paper develops best practices for conditional density estimation for finance applications with neural networks, grounded on mathematical insights and empirical evaluations. In particular, we introduce a noise regularization and data normalization scheme, alleviating problems with over-fitting, initialization and hyper-parameter sensitivity of such estimators. We compare our proposed methodology with popular semi- and non-parametric density estimators, underpin its effectiveness in various benchmarks on simulated and Euro Stoxx 50 data and show its superior performance. Our methodology allows to obtain high-quality estimators for statistical expectations of higher moments, quantiles and non-linear return transformations, with very little assumptions about the return dynamic.

stat.ML↗

arXiv2018

Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution

We present a novel deep neural network architecture for representing robot experiences in an episodic-like memory which facilitates encoding, recalling, and predicting action experiences. Our proposed unsupervised deep episodic memory model 1) encodes observed actions in a latent vector space and, based on this latent encoding, 2) infers most similar episodes previously experienced, 3) reconstructs original episodes, and 4) predicts future frames in an end-to-end fashion. Results show that conceptually similar actions are mapped into the same region of the latent vector space. Based on these results, we introduce an action matching and retrieval mechanism, benchmark its performance on two large-scale action datasets, 20BN-something-something and ActivityNet and evaluate its generalization capability in a real-world scenario on a humanoid robot.

cs.AI↗

arXiv2018

Introducing the Simulated Flying Shapes and Simulated Planar Manipulator Datasets

We release two artificial datasets, Simulated Flying Shapes and Simulated Planar Manipulator that allow to test the learning ability of video processing systems. In particular, the dataset is meant as a tool which allows to easily assess the sanity of deep neural network models that aim to encode, reconstruct or predict video frame sequences. The datasets each consist of 90000 videos. The Simulated Flying Shapes dataset comprises scenes showing two objects of equal shape (rectangle, triangle and circle) and size in which one object approaches its counterpart. The Simulated Planar Manipulator shows a 3-DOF planar manipulator that executes a pick-and-place task in which it has to place a size-varying circle on a squared platform. Different from other widely used datasets such as moving MNIST [1], [2], the two presented datasets involve goal-oriented tasks (e.g. the manipulator grasping an object and placing it on a platform), rather than showing random movements. This makes our datasets more suitable for testing prediction capabilities and the learning of sophisticated motions by a machine learning model. This technical document aims at providing an introduction into the usage of both datasets.

cs.CV↗