arXiv subjects

Paolo Tonella

Publications and source records attributed to Paolo Tonella.

At least 37 records · Page 2Linked to original sources

arXiv2025

MuFF: Stable and Sensitive Post-training Mutation Testing for Deep Learning

Rapid adoptions of Deep Learning (DL) in a broad range of fields led to the development of specialised testing techniques for DL systems, including DL mutation testing. However, existing post-training DL mutation techniques often generate unstable mutants across multiple training repetitions and multiple applications of the same mutation operator. Additionally, while extremely efficient, they generate mutants without taking into account the mutants' sensitivity and killability, resulting in a large number of ineffective mutants compared to pre-training mutants. In this paper, we present a new efficient post-training DL mutation technique, named MuFF, designed to ensure the stability of the mutants and capable of generating killable and sensitive mutants. MuFF implements an automated stability check and introduces two mutation operators, named weight and neuron inhibitors. Our extensive empirical experiments show that MuFF generates mutants with 60%pt and 25%pt higher sensitivity compared to DeepMutation++ and DeepCrime, respectively, while also producing mutants that are more stable than those of DeepMutation++ and different from the mutants of DeepCrime. Moreover, MuFF preserves the benefits of the post-training mutation technique, being 61 times faster than DeepCrime in generating mutants.

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arXiv2024

Improving the Readability of Automatically Generated Tests using Large Language Models

Search-based test generators are effective at producing unit tests with high coverage. However, such automatically generated tests have no meaningful test and variable names, making them hard to understand and interpret by developers. On the other hand, large language models (LLMs) can generate highly readable test cases, but they are not able to match the effectiveness of search-based generators, in terms of achieved code coverage. In this paper, we propose to combine the effectiveness of search-based generators with the readability of LLM generated tests. Our approach focuses on improving test and variable names produced by search-based tools, while keeping their semantics (i.e., their coverage) unchanged. Our evaluation on nine industrial and open source LLMs show that our readability improvement transformations are overall semantically-preserving and stable across multiple repetitions. Moreover, a human study with ten professional developers, show that our LLM-improved tests are as readable as developer-written tests, regardless of the LLM employed.

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arXiv2024

Real Faults in Deep Learning Fault Benchmarks: How Real Are They?

As the adoption of Deep Learning (DL) systems continues to rise, an increasing number of approaches are being proposed to test these systems, localise faults within them, and repair those faults. The best attestation of effectiveness for such techniques is an evaluation that showcases their capability to detect, localise and fix real faults. To facilitate these evaluations, the research community has collected multiple benchmarks of real faults in DL systems. In this work, we perform a manual analysis of 490 faults from five different benchmarks and identify that 314 of them are eligible for our study. Our investigation focuses specifically on how well the bugs correspond to the sources they were extracted from, which fault types are represented, and whether the bugs are reproducible. Our findings indicate that only 18.5% of the faults satisfy our realism conditions. Our attempts to reproduce these faults were successful only in 52% of cases.

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arXiv2024

An Empirical Study of Fault Localisation Techniques for Deep Learning

With the increased popularity of Deep Neural Networks (DNNs), increases also the need for tools to assist developers in the DNN implementation, testing and debugging process. Several approaches have been proposed that automatically analyse and localise potential faults in DNNs under test. In this work, we evaluate and compare existing state-of-the-art fault localisation techniques, which operate based on both dynamic and static analysis of the DNN. The evaluation is performed on a benchmark consisting of both real faults obtained from bug reporting platforms and faulty models produced by a mutation tool. Our findings indicate that the usage of a single, specific ground truth (e.g., the human defined one) for the evaluation of DNN fault localisation tools results in pretty low performance (maximum average recall of 0.31 and precision of 0.23). However, such figures increase when considering alternative, equivalent patches that exist for a given faulty DNN. Results indicate that \dfd is the most effective tool, achieving an average recall of 0.61 and precision of 0.41 on our benchmark.

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arXiv2024

Two is Better Than One: Digital Siblings to Improve Autonomous Driving Testing

Simulation-based testing represents an important step to ensure the reliability of autonomous driving software. In practice, when companies rely on third-party general-purpose simulators, either for in-house or outsourced testing, the generalizability of testing results to real autonomous vehicles is at stake. In this paper, we enhance simulation-based testing by introducing the notion of digital siblings, a multi-simulator approach that tests a given autonomous vehicle on multiple general-purpose simulators built with different technologies, that operate collectively as an ensemble in the testing process. We exemplify our approach on a case study focused on testing the lane-keeping component of an autonomous vehicle. We use two open-source simulators as digital siblings, and we empirically compare such a multi-simulator approach against a digital twin of a physical scaled autonomous vehicle on a large set of test cases. Our approach requires generating and running test cases for each individual simulator, in the form of sequences of road points. Then, test cases are migrated between simulators, using feature maps to characterize the exercised driving conditions. Finally, the joint predicted failure probability is computed, and a failure is reported only in cases of agreement among the siblings. Our empirical evaluation shows that the ensemble failure predictor by the digital siblings is superior to each individual simulator at predicting the failures of the digital twin. We discuss the findings of our case study and detail how our approach can help researchers interested in automated testing of autonomous driving software.

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arXiv2024

muPRL: A Mutation Testing Pipeline for Deep Reinforcement Learning based on Real Faults

Reinforcement Learning (RL) is increasingly adopted to train agents that can deal with complex sequential tasks, such as driving an autonomous vehicle or controlling a humanoid robot. Correspondingly, novel approaches are needed to ensure that RL agents have been tested adequately before going to production. Among them, mutation testing is quite promising, especially under the assumption that the injected faults (mutations) mimic the real ones. In this paper, we first describe a taxonomy of real RL faults obtained by repository mining. Then, we present the mutation operators derived from such real faults and implemented in the tool muPRL. Finally, we discuss the experimental results, showing that muPRL is effective at discriminating strong from weak test generators, hence providing useful feedback to developers about the adequacy of the generated test scenarios.

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arXiv2024

Boundary State Generation for Testing and Improvement of Autonomous Driving Systems

Recent advances in Deep Neural Networks (DNNs) and sensor technologies are enabling autonomous driving systems (ADSs) with an ever-increasing level of autonomy. However, assessing their dependability remains a critical concern. State-of-the-art ADS testing approaches modify the controllable attributes of a simulated driving environment until the ADS misbehaves. In such approaches, environment instances in which the ADS is successful are discarded, despite the possibility that they could contain hidden driving conditions in which the ADS may misbehave. In this paper, we present GENBO (GENerator of BOundary state pairs), a novel test generator for ADS testing. GENBO mutates the driving conditions of the ego vehicle (position, velocity and orientation), collected in a failure-free environment instance, and efficiently generates challenging driving conditions at the behavior boundary (i.e., where the model starts to misbehave) in the same environment instance. We use such boundary conditions to augment the initial training dataset and retrain the DNN model under test. Our evaluation results show that the retrained model has, on average, up to 3x higher success rate on a separate set of evaluation tracks with respect to the original DNN model.

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arXiv2024

GenMorph: Automatically Generating Metamorphic Relations via Genetic Programming

Metamorphic testing is a popular approach that aims to alleviate the oracle problem in software testing. At the core of this approach are Metamorphic Relations (MRs), specifying properties that hold among multiple test inputs and corresponding outputs. Deriving MRs is mostly a manual activity, since their automated generation is a challenging and largely unexplored problem. This paper presents GenMorph, a technique to automatically generate MRs for Java methods that involve inputs and outputs that are boolean, numerical, or ordered sequences. GenMorph uses an evolutionary algorithm to search for effective test oracles, i.e., oracles that trigger no false alarms and expose software faults in the method under test. The proposed search algorithm is guided by two fitness functions that measure the number of false alarms and the number of missed faults for the generated MRs. Our results show that GenMorph generates effective MRs for 18 out of 23 methods (mutation score >20%). Furthermore, it can increase Randoop's fault detection capability in 7 out of 23 methods, and Evosuite's in 14 out of 23 methods. When compared with AutoMR, a state-of-the-art MR generator, GenMorph also outperformed its fault detection capability in 9 out of 10 methods.

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arXiv2024

Reinforcement Learning for Online Testing of Autonomous Driving Systems: a Replication and Extension Study

In a recent study, Reinforcement Learning (RL) used in combination with many-objective search, has been shown to outperform alternative techniques (random search and many-objective search) for online testing of Deep Neural Network-enabled systems. The empirical evaluation of these techniques was conducted on a state-of-the-art Autonomous Driving System (ADS). This work is a replication and extension of that empirical study. Our replication shows that RL does not outperform pure random test generation in a comparison conducted under the same settings of the original study, but with no confounding factor coming from the way collisions are measured. Our extension aims at eliminating some of the possible reasons for the poor performance of RL observed in our replication: (1) the presence of reward components providing contrasting or useless feedback to the RL agent; (2) the usage of an RL algorithm (Q-learning) which requires discretization of an intrinsically continuous state space. Results show that our new RL agent is able to converge to an effective policy that outperforms random testing. Results also highlight other possible improvements, which open to further investigations on how to best leverage RL for online ADS testing.

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arXiv2023

Testing of Deep Reinforcement Learning Agents with Surrogate Models

Deep Reinforcement Learning (DRL) has received a lot of attention from the research community in recent years. As the technology moves away from game playing to practical contexts, such as autonomous vehicles and robotics, it is crucial to evaluate the quality of DRL agents. In this paper, we propose a search-based approach to test such agents. Our approach, implemented in a tool called Indago, trains a classifier on failure and non-failure environment (i.e., pass) configurations resulting from the DRL training process. The classifier is used at testing time as a surrogate model for the DRL agent execution in the environment, predicting the extent to which a given environment configuration induces a failure of the DRL agent under test. The failure prediction acts as a fitness function, guiding the generation towards failure environment configurations, while saving computation time by deferring the execution of the DRL agent in the environment to those configurations that are more likely to expose failures. Experimental results show that our search-based approach finds 50% more failures of the DRL agent than state-of-the-art techniques. Moreover, such failures are, on average, 78% more diverse; similarly, the behaviors of the DRL agent induced by failure configurations are 74% more diverse.

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arXiv2023

Generating and Detecting True Ambiguity: A Forgotten Danger in DNN Supervision Testing

Deep Neural Networks (DNNs) are becoming a crucial component of modern software systems, but they are prone to fail under conditions that are different from the ones observed during training (out-of-distribution inputs) or on inputs that are truly ambiguous, i.e., inputs that admit multiple classes with nonzero probability in their labels. Recent work proposed DNN supervisors to detect high-uncertainty inputs before their possible misclassification leads to any harm. To test and compare the capabilities of DNN supervisors, researchers proposed test generation techniques, to focus the testing effort on high-uncertainty inputs that should be recognized as anomalous by supervisors. However, existing test generators aim to produce out-of-distribution inputs. No existing model- and supervisor independent technique targets the generation of truly ambiguous test inputs, i.e., inputs that admit multiple classes according to expert human judgment. In this paper, we propose a novel way to generate ambiguous inputs to test DNN supervisors and used it to empirically compare several existing supervisor techniques. In particular, we propose AmbiGuess to generate ambiguous samples for image classification problems. AmbiGuess is based on gradient-guided sampling in the latent space of a regularized adversarial autoencoder. Moreover, we conducted what is -- to the best of our knowledge -- the most extensive comparative study of DNN supervisors, considering their capabilities to detect 4 distinct types of high-uncertainty inputs, including truly ambiguous ones. We find that the tested supervisors' capabilities are complementary: Those best suited to detect true ambiguity perform worse on invalid, out-of-distribution and adversarial inputs and vice-versa.

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arXiv2023

Adopting Two Supervisors for Efficient Use of Large-Scale Remote Deep Neural Networks

Recent decades have seen the rise of large-scale Deep Neural Networks (DNNs) to achieve human-competitive performance in a variety of artificial intelligence tasks. Often consisting of hundreds of millions, if not hundreds of billion parameters, these DNNs are too large to be deployed to, or efficiently run on resource-constrained devices such as mobile phones or IoT microcontrollers. Systems relying on large-scale DNNs thus have to call the corresponding model over the network, leading to substantial costs for hosting and running the large-scale remote model, costs which are often charged on a per-use basis. In this paper, we propose BiSupervised, a novel architecture, where, before relying on a large remote DNN, a system attempts to make a prediction on a small-scale local model. A DNN supervisor monitors said prediction process and identifies easy inputs for which the local prediction can be trusted. For these inputs, the remote model does not have to be invoked, thus saving costs, while only marginally impacting the overall system accuracy. Our architecture furthermore foresees a second supervisor to monitor the remote predictions and identify inputs for which not even these can be trusted, allowing to raise an exception or run a fallback strategy instead. We evaluate the cost savings, and the ability to detect incorrectly predicted inputs on four diverse case studies: IMDB movie review sentiment classification, Github issue triaging, Imagenet image classification, and SQuADv2 free-text question answering

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arXiv2023

Repairing DNN Architecture: Are We There Yet?

As Deep Neural Networks (DNNs) are rapidly being adopted within large software systems, software developers are increasingly required to design, train, and deploy such models into the systems they develop. Consequently, testing and improving the robustness of these models have received a lot of attention lately. However, relatively little effort has been made to address the difficulties developers experience when designing and training such models: if the evaluation of a model shows poor performance after the initial training, what should the developer change? We survey and evaluate existing state-of-the-art techniques that can be used to repair model performance, using a benchmark of both real-world mistakes developers made while designing DNN models and artificial faulty models generated by mutating the model code. The empirical evaluation shows that random baseline is comparable with or sometimes outperforms existing state-of-the-art techniques. However, for larger and more complicated models, all repair techniques fail to find fixes. Our findings call for further research to develop more sophisticated techniques for Deep Learning repair.

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arXiv2022

When and Why Test Generators for Deep Learning Produce Invalid Inputs: an Empirical Study

Testing Deep Learning (DL) based systems inherently requires large and representative test sets to evaluate whether DL systems generalise beyond their training datasets. Diverse Test Input Generators (TIGs) have been proposed to produce artificial inputs that expose issues of the DL systems by triggering misbehaviours. Unfortunately, such generated inputs may be invalid, i.e., not recognisable as part of the input domain, thus providing an unreliable quality assessment. Automated validators can ease the burden of manually checking the validity of inputs for human testers, although input validity is a concept difficult to formalise and, thus, automate. In this paper, we investigate to what extent TIGs can generate valid inputs, according to both automated and human validators. We conduct a large empirical study, involving 2 different automated validators, 220 human assessors, 5 different TIGs and 3 classification tasks. Our results show that 84% artificially generated inputs are valid, according to automated validators, but their expected label is not always preserved. Automated validators reach a good consensus with humans (78% accuracy), but still have limitations when dealing with feature-rich datasets.

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arXiv2022

Uncertainty Quantification for Deep Neural Networks: An Empirical Comparison and Usage Guidelines

Deep Neural Networks (DNN) are increasingly used as components of larger software systems that need to process complex data, such as images, written texts, audio/video signals. DNN predictions cannot be assumed to be always correct for several reasons, among which the huge input space that is dealt with, the ambiguity of some inputs data, as well as the intrinsic properties of learning algorithms, which can provide only statistical warranties. Hence, developers have to cope with some residual error probability. An architectural pattern commonly adopted to manage failure-prone components is the supervisor, an additional component that can estimate the reliability of the predictions made by untrusted (e.g., DNN) components and can activate an automated healing procedure when these are likely to fail, ensuring that the Deep Learning based System (DLS) does not cause damages, despite its main functionality being suspended. In this paper, we consider DLS that implement a supervisor by means of uncertainty estimation. After overviewing the main approaches to uncertainty estimation and discussing their pros and cons, we motivate the need for a specific empirical assessment method that can deal with the experimental setting in which supervisors are used, where the accuracy of the DNN matters only as long as the supervisor lets the DLS continue to operate. Then we present a large empirical study conducted to compare the alternative approaches to uncertainty estimation. We distilled a set of guidelines for developers that are useful to incorporate a supervisor based on uncertainty monitoring into a DLS.

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arXiv2022

Mind the Gap! A Study on the Transferability of Virtual vs Physical-world Testing of Autonomous Driving Systems

Safe deployment of self-driving cars (SDC) necessitates thorough simulated and in-field testing. Most testing techniques consider virtualized SDCs within a simulation environment, whereas less effort has been directed towards assessing whether such techniques transfer to and are effective with a physical real-world vehicle. In this paper, we shed light on the problem of generalizing testing results obtained in a driving simulator to a physical platform and provide a characterization and quantification of the sim2real gap affecting SDC testing. In our empirical study, we compare SDC testing when deployed on a physical small-scale vehicle vs its digital twin. Due to the unavailability of driving quality indicators from the physical platform, we use neural rendering to estimate them through visual odometry, hence allowing full comparability with the digital twin. Then, we investigate the transferability of behavior and failure exposure between virtual and real-world environments, targeting both unintended abnormal test data and intended adversarial examples. Our study shows that, despite the usage of a faithful digital twin, there are still critical shortcomings that contribute to the reality gap between the virtual and physical world, threatening existing testing solutions that only consider virtual SDCs. On the positive side, our results present the test configurations for which physical testing can be avoided, either because their outcome does transfer between virtual and physical environments, or because the uncertainty profiles in the simulator can help predict their outcome in the real world.

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arXiv2022

Simple Techniques Work Surprisingly Well for Neural Network Test Prioritization and Active Learning (Replicability Study)

Test Input Prioritizers (TIP) for Deep Neural Networks (DNN) are an important technique to handle the typically very large test datasets efficiently, saving computation and labeling costs. This is particularly true for large-scale, deployed systems, where inputs observed in production are recorded to serve as potential test or training data for the next versions of the system. Feng et. al. propose DeepGini, a very fast and simple TIP, and show that it outperforms more elaborate techniques such as neuron- and surprise coverage. In a large-scale study (4 case studies, 8 test datasets, 32'200 trained models) we verify their findings. However, we also find that other comparable or even simpler baselines from the field of uncertainty quantification, such as the predicted softmax likelihood or the entropy of the predicted softmax likelihoods perform equally well as DeepGini.

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arXiv2021

DeepMetis: Augmenting a Deep Learning Test Set to Increase its Mutation Score

Deep Learning (DL) components are routinely integrated into software systems that need to perform complex tasks such as image or natural language processing. The adequacy of the test data used to test such systems can be assessed by their ability to expose artificially injected faults (mutations) that simulate real DL faults. In this paper, we describe an approach to automatically generate new test inputs that can be used to augment the existing test set so that its capability to detect DL mutations increases. Our tool DeepMetis implements a search based input generation strategy. To account for the non-determinism of the training and the mutation processes, our fitness function involves multiple instances of the DL model under test. Experimental results show that \tool is effective at augmenting the given test set, increasing its capability to detect mutants by 63% on average. A leave-one-out experiment shows that the augmented test set is capable of exposing unseen mutants, which simulate the occurrence of yet undetected faults.

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