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Xin Peng

Publications and source records attributed to Xin Peng.

At least 109 records · Page 6Linked to original sources
arXiv2024

Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimation

Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based control scenarios, as the quality of the estimation of kinematics depends on the stability of absolute camera and landmark coordinates estimation. To address this issue, we propose a novel solution to tight visual-inertial fusion directly at the level of first-order kinematics by employing a dynamic vision sensor instead of a normal camera. More specifically, we leverage trifocal tensor geometry to establish an incidence relation that directly depends on events and camera velocity, and demonstrate how velocity estimates in highly dynamic situations can be obtained over short time intervals. Noise and outliers are dealt with using a nested two-layer RANSAC scheme. Additionally, smooth velocity signals are obtained from a tight fusion with pre-integrated inertial signals using a sliding window optimizer. Experiments on both simulated and real data demonstrate that the proposed tight event-inertial fusion leads to continuous and reliable velocity estimation in highly dynamic scenarios independently of absolute coordinates. Furthermore, in extreme cases, it achieves more stable and more accurate estimation of kinematics than traditional, point-position-based visual-inertial odometry.

cs.CV↗
arXiv2024

Event-Based Visual Odometry on Non-Holonomic Ground Vehicles

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the estimation, it is generally believed that fusion with other sensors is a requirement. In this work, we demonstrate reliable, purely event-based visual odometry on planar ground vehicles by employing the constrained non-holonomic motion model of Ackermann steering platforms. We extend single feature n-linearities for regular frame-based cameras to the case of quasi time-continuous event-tracks, and achieve a polynomial form via variable degree Taylor expansions. Robust averaging over multiple event tracks is simply achieved via histogram voting. As demonstrated on both simulated and real data, our algorithm achieves accurate and robust estimates of the vehicle's instantaneous rotational velocity, and thus results that are comparable to the delta rotations obtained by frame-based sensors under normal conditions. We furthermore significantly outperform the more traditional alternatives in challenging illumination scenarios. The code is available at \url{https://github.com/gowanting/NHEVO}.

cs.CV↗
arXiv2023

YAYI 2: Multilingual Open-Source Large Language Models

As the latest advancements in natural language processing, large language models (LLMs) have achieved human-level language understanding and generation abilities in many real-world tasks, and even have been regarded as a potential path to the artificial general intelligence. To better facilitate research on LLMs, many open-source LLMs, such as Llama 2 and Falcon, have recently been proposed and gained comparable performances to proprietary models. However, these models are primarily designed for English scenarios and exhibit poor performances in Chinese contexts. In this technical report, we propose YAYI 2, including both base and chat models, with 30 billion parameters. YAYI 2 is pre-trained from scratch on a multilingual corpus which contains 2.65 trillion tokens filtered by our pre-training data processing pipeline. The base model is aligned with human values through supervised fine-tuning with millions of instructions and reinforcement learning from human feedback. Extensive experiments on multiple benchmarks, such as MMLU and CMMLU, consistently demonstrate that the proposed YAYI 2 outperforms other similar sized open-source models.

cs.CL↗
arXiv2023

EnvGuard: Guaranteeing Environment-Centric Safety and Security Properties in Web of Things

Web of Things (WoT) technology facilitates the standardized integration of IoT devices ubiquitously deployed in daily environments, promoting diverse WoT applications to automatically sense and regulate the environment. In WoT environment, heterogeneous applications, user activities, and environment changes collectively influence device behaviors, posing risks of unexpected violations of safety and security properties. Existing work on violation identification primarily focuses on the analysis of automated applications, lacking consideration of the intricate interactions in the environment. Moreover, users' intention for violation resolving strategy is much less investigated. To address these limitations, we introduce EnvGuard, an environment-centric approach for property customizing, violation identification and resolution execution in WoT environment. We evaluated EnvGuard in two typical WoT environments. By conducting user studies and analyzing collected real-world environment data, we assess the performance of EnvGuard, and construct a dataset from the collected data to support environment-level violation identification. The results demonstrate the superiority of EnvGuard compared to previous state-of-the-art work, and confirm its usability, feasibility and runtime efficiency.

cs.SE↗
arXiv2023

Enhancing Robot Program Synthesis Through Environmental Context

Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly proficient in capturing program semantics. For robot programming, prior works have facilitated program synthesis by incorporating global environments. However, the assumption of acquiring a comprehensive understanding of the entire environment is often excessively challenging to achieve. In this work, we present a framework that learns to synthesize a program by rectifying potentially erroneous code segments, with the aid of partially observed environments. To tackle the issue of inadequate attention to partial observations, we propose to first learn an environment embedding space that can implicitly evaluate the impacts of each program token based on the precondition. Furthermore, by employing a graph structure, the model can aggregate both environmental and syntactic information flow and furnish smooth program rectification guidance. Extensive experimental evaluations and ablation studies on the partially observed VizDoom domain authenticate that our method offers superior generalization capability across various tasks and greater robustness when encountering noises.

cs.RO↗
arXiv2023

Detecting and Fixing Violations of Modification Terms in Open Source Licenses during Forking

Open source software brings benefit to software community, but also introduces legal risks caused by license violations, which result in serious consequences such as lawsuits and financial losses. To mitigate legal risks, some approaches have been proposed to identify licenses, detect license incompatibilities and inconsistencies, and recommend licenses. As far as we know, however, there is no prior work to understand modification terms in open source licenses or to detect and fix violations of modification terms. To bridge this gap, we first empirically characterize modification terms in 47 open source licenses. These licenses all require certain forms of "notice" to describe the modifications made to the original work. Inspired by our study, we then design LiVo to automatically detect and fix violations of modification terms in open source licenses during forking. Our evaluation has shown the effectiveness and efficiency of LiVo. 18 pull requests of fixing modification term violations have received positive responses. 8 have been merged.

cs.SE↗
arXiv2023

Tracking Patches for Open Source Software Vulnerabilities

Open source software (OSS) vulnerabilities threaten the security of software systems that use OSS. Vulnerability databases provide valuable information (e.g., vulnerable version and patch) to mitigate OSS vulnerabilities. There arises a growing concern about the information quality of vulnerability databases. However, it is unclear what the quality of patches in existing vulnerability databases is; and existing manual or heuristic-based approaches for patch tracking are either too expensive or too specific to apply to all OSS vulnerabilities.

cs.SE↗
arXiv2023

Exploring the Potential of ChatGPT in Automated Code Refinement: An Empirical Study

Code review is an essential activity for ensuring the quality and maintainability of software projects. However, it is a time-consuming and often error-prone task that can significantly impact the development process. Recently, ChatGPT, a cutting-edge language model, has demonstrated impressive performance in various natural language processing tasks, suggesting its potential to automate code review processes. However, it is still unclear how well ChatGPT performs in code review tasks. To fill this gap, in this paper, we conduct the first empirical study to understand the capabilities of ChatGPT in code review tasks, specifically focusing on automated code refinement based on given code reviews. To conduct the study, we select the existing benchmark CodeReview and construct a new code review dataset with high quality. We use CodeReviewer, a state-of-the-art code review tool, as a baseline for comparison with ChatGPT. Our results show that ChatGPT outperforms CodeReviewer in code refinement tasks. Specifically, our results show that ChatGPT achieves higher EM and BLEU scores of 22.78 and 76.44 respectively, while the state-of-the-art method achieves only 15.50 and 62.88 on a high-quality code review dataset. We further identify the root causes for ChatGPT's underperformance and propose several strategies to mitigate these challenges. Our study provides insights into the potential of ChatGPT in automating the code review process, and highlights the potential research directions.

cs.SE↗
arXiv2023

Reinforcement Learning Based Gasoline Blending Optimization: Achieving More Efficient Nonlinear Online Blending of Fuels

The online optimization of gasoline blending benefits refinery economies. However, the nonlinear blending mechanism, the oil property fluctuations, and the blending model mismatch bring difficulties to the optimization. To solve the above issues, this paper proposes a novel online optimization method based on deep reinforcement learning algorithm (DRL). The Markov decision process (MDP) expression are given considering a practical gasoline blending system. Then, the environment simulator of gasoline blending process is established based on the MDP expression and the one-year measurement data of a real-world refinery. The soft actor-critic (SAC) DRL algorithm is applied to improve the DRL agent policy by using the data obtained from the interaction between DRL agent and environment simulator. Compared with a traditional method, the proposed method has better economic performance. Meanwhile, it is more robust under property fluctuations and component oil switching. Furthermore, the proposed method maintains performance by automatically adapting to system drift.

cs.CE↗
arXiv2023

Demystifying Dependency Bugs in Deep Learning Stack

Deep learning (DL) applications, built upon a heterogeneous and complex DL stack (e.g., Nvidia GPU, Linux, CUDA driver, Python runtime, and TensorFlow), are subject to software and hardware dependencies across the DL stack. One challenge in dependency management across the entire engineering lifecycle is posed by the asynchronous and radical evolution and the complex version constraints among dependencies. Developers may introduce dependency bugs (DBs) in selecting, using and maintaining dependencies. However, the characteristics of DBs in DL stack is still under-investigated, hindering practical solutions to dependency management in DL stack. To bridge this gap, this paper presents the first comprehensive study to characterize symptoms, root causes and fix patterns of DBs across the whole DL stack with 446 DBs collected from StackOverflow posts and GitHub issues. For each DB, we first investigate the symptom as well as the lifecycle stage and dependency where the symptom is exposed. Then, we analyze the root cause as well as the lifecycle stage and dependency where the root cause is introduced. Finally, we explore the fix pattern and the knowledge sources that are used to fix it. Our findings from this study shed light on practical implications on dependency management.

cs.SE↗
arXiv2023

Recommending Analogical APIs via Knowledge Graph Embedding

Library migration, which re-implements the same software behavior by using a different library instead of using the current one, has been widely observed in software evolution. One essential part of library migration is to find an analogical API that could provide the same functionality as current ones. However, given the large number of libraries/APIs, manually finding an analogical API could be very time-consuming and error-prone. Researchers have developed multiple automated analogical API recommendation techniques. Documentation-based methods have particularly attracted significant interest. Despite their potential, these methods have limitations, such as a lack of comprehensive semantic understanding in documentation and scalability challenges. In this work, we propose KGE4AR, a novel documentation-based approach that leverages knowledge graph (KG) embedding to recommend analogical APIs during library migration. Specifically, KGE4AR proposes a novel unified API KG to comprehensively and structurally represent three types of knowledge in documentation, which can better capture the high-level semantics. Moreover, KGE4AR then proposes to embed the unified API KG into vectors, enabling more effective and scalable similarity calculation. We build KGE4AR' s unified API KG for 35,773 Java libraries and assess it in two API recommendation scenarios: with and without target libraries. Our results show that KGE4AR substantially outperforms state-of-the-art documentation-based techniques in both evaluation scenarios in terms of all metrics (e.g., 47.1%-143.0% and 11.7%-80.6% MRR improvements in each scenario). Additionally, we explore KGE4AR' s scalability, confirming its effective scaling with the growing number of libraries.

cs.SE↗
arXiv2023

ClassEval: A Manually-Crafted Benchmark for Evaluating LLMs on Class-level Code Generation

In this work, we make the first attempt to evaluate LLMs in a more challenging code generation scenario, i.e. class-level code generation. We first manually construct the first class-level code generation benchmark ClassEval of 100 class-level Python code generation tasks with approximately 500 person-hours. Based on it, we then perform the first study of 11 state-of-the-art LLMs on class-level code generation. Based on our results, we have the following main findings. First, we find that all existing LLMs show much worse performance on class-level code generation compared to on standalone method-level code generation benchmarks like HumanEval; and the method-level coding ability cannot equivalently reflect the class-level coding ability among LLMs. Second, we find that GPT-4 and GPT-3.5 still exhibit dominate superior than other LLMs on class-level code generation, and the second-tier models includes Instruct-Starcoder, Instruct-Codegen, and Wizardcoder with very similar performance. Third, we find that generating the entire class all at once (i.e. holistic generation strategy) is the best generation strategy only for GPT-4 and GPT-3.5, while method-by-method generation (i.e. incremental and compositional) is better strategies for the other models with limited ability of understanding long instructions and utilizing the middle information. Lastly, we find the limited model ability of generating method-dependent code and discuss the frequent error types in generated classes. Our benchmark is available at https://github.com/FudanSELab/ClassEval.

cs.CL↗
arXiv2023

OpenGCD: Assisting Open World Recognition with Generalized Category Discovery

A desirable open world recognition (OWR) system requires performing three tasks: (1) Open set recognition (OSR), i.e., classifying the known (classes seen during training) and rejecting the unknown (unseen$/$novel classes) online; (2) Grouping and labeling these unknown as novel known classes; (3) Incremental learning (IL), i.e., continual learning these novel classes and retaining the memory of old classes. Ideally, all of these steps should be automated. However, existing methods mostly assume that the second task is completely done manually. To bridge this gap, we propose OpenGCD that combines three key ideas to solve the above problems sequentially: (a) We score the origin of instances (unknown or specifically known) based on the uncertainty of the classifier's prediction; (b) For the first time, we introduce generalized category discovery (GCD) techniques in OWR to assist humans in grouping unlabeled data; (c) For the smooth execution of IL and GCD, we retain an equal number of informative exemplars for each class with diversity as the goal. Moreover, we present a new performance evaluation metric for GCD called harmonic clustering accuracy. Experiments on two standard classification benchmarks and a challenging dataset demonstrate that OpenGCD not only offers excellent compatibility but also substantially outperforms other baselines. Code: https://github.com/Fulin-Gao/OpenGCD.

cs.CV↗
arXiv2023

Evaluating Instruction-Tuned Large Language Models on Code Comprehension and Generation

In this work, we evaluate 10 open-source instructed LLMs on four representative code comprehension and generation tasks. We have the following main findings. First, for the zero-shot setting, instructed LLMs are very competitive on code comprehension and generation tasks and sometimes even better than small SOTA models specifically fine-tuned on each downstream task. We also find that larger instructed LLMs are not always better on code-related tasks. Second, for the few-shot setting, we find that adding demonstration examples substantially helps instructed LLMs perform better on most code comprehension and generation tasks; however, the examples would sometimes induce unstable or even worse performance. Furthermore, we find widely-used BM25-based shot selection strategy significantly outperforms the basic random selection or fixed selection only on generation problems. Third, for the fine-tuning setting, we find that fine-tuning could further improve the model performance on downstream code comprehension and generation tasks compared to the zero-shot/one-shot performance. In addition, after being fine-tuned on the same downstream task dataset, instructed LLMs outperform both the small SOTA models and similar-scaled LLMs without instruction tuning. Based on our findings, we further present practical implications on model and usage recommendation, performance and cost trade-offs, and future direction.

cs.CL↗
arXiv2023

Spatio-Temporal Calibration for Omni-Directional Vehicle-Mounted Event Cameras

We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body frame using alignment of trajectories, our approach leverages the kinematic correlation of two sets of linear velocity estimates from event data and wheel odometers, respectively. The overall calibration task consists of estimating the underlying temporal offset between the two heterogeneous sensors, and furthermore, recovering the extrinsic rotation that defines the linear relationship between the two sets of velocity estimates. The first sub-problem is formulated as an optimization one, which looks for the optimal temporal offset that maximizes a correlation measurement invariant to arbitrary linear transformation. Once the temporal offset is compensated, the extrinsic rotation can be worked out with an iterative closed-form solver that incrementally registers associated linear velocity estimates. The proposed algorithm is proved effective on both synthetic data and real data, outperforming traditional methods based on alignment of trajectories.

cs.RO↗
arXiv2023

Answering Uncertain, Under-Specified API Queries Assisted by Knowledge-Aware Human-AI Dialogue

Developers' API needs should be more pragmatic, such as seeking suggestive, explainable, and extensible APIs rather than the so-called best result. Existing API search research cannot meet these pragmatic needs because they are solely concerned with query-API relevance. This necessitates a focus on enhancing the entire query process, from query definition to query refinement through intent clarification to query results promoting divergent thinking about results. This paper designs a novel Knowledge-Aware Human-AI Dialog agent (KAHAID) which guides the developer to clarify the uncertain, under-specified query through multi-round question answering and recommends APIs for the clarified query with relevance explanation and extended suggestions (e.g., alternative, collaborating or opposite-function APIs). We systematically evaluate KAHAID. In terms of human-AI dialogue efficiency, it achieves a high diversity of question options and the ability to guide developers to find APIs using fewer dialogue rounds. For API recommendation, KAHAID achieves an MRR and MAP of 0.769 and 0.794, outperforming state-of-the-art methods BIKER and CLEAR by at least 47% in MRR and 226.7% in MAP. For knowledge extension, KAHAID obtains an MRR and MAP of 0.815 and 0.864, surpassing ZaCQ by at least 42% in MRR and 45.2\% in MAP. Furthermore, we conduct a user study. It shows that explainable API recommendations, as implemented by KAHAID, can help developers identify the best API approach more easily or confidently, improving inspiration of clarification question options by at least 20.83% and the extensibility of extended APIs by at least 12.5%.

cs.SE↗
arXiv2023

RARE: Robust Masked Graph Autoencoder

Masked graph autoencoder (MGAE) has emerged as a promising self-supervised graph pre-training (SGP) paradigm due to its simplicity and effectiveness. However, existing efforts perform the mask-then-reconstruct operation in the raw data space as is done in computer vision (CV) and natural language processing (NLP) areas, while neglecting the important non-Euclidean property of graph data. As a result, the highly unstable local connection structures largely increase the uncertainty in inferring masked data and decrease the reliability of the exploited self-supervision signals, leading to inferior representations for downstream evaluations. To address this issue, we propose a novel SGP method termed Robust mAsked gRaph autoEncoder (RARE) to improve the certainty in inferring masked data and the reliability of the self-supervision mechanism by further masking and reconstructing node samples in the high-order latent feature space. Through both theoretical and empirical analyses, we have discovered that performing a joint mask-then-reconstruct strategy in both latent feature and raw data spaces could yield improved stability and performance. To this end, we elaborately design a masked latent feature completion scheme, which predicts latent features of masked nodes under the guidance of high-order sample correlations that are hard to be observed from the raw data perspective. Specifically, we first adopt a latent feature predictor to predict the masked latent features from the visible ones. Next, we encode the raw data of masked samples with a momentum graph encoder and subsequently employ the resulting representations to improve predicted results through latent feature matching. Extensive experiments on seventeen datasets have demonstrated the effectiveness and robustness of RARE against state-of-the-art (SOTA) competitors across three downstream tasks.

cs.LG↗
arXiv2023

Understanding the Complexity and Its Impact on Testing in ML-Enabled Systems

Machine learning (ML) enabled systems are emerging with recent breakthroughs in ML. A model-centric view is widely taken by the literature to focus only on the analysis of ML models. However, only a small body of work takes a system view that looks at how ML components work with the system and how they affect software engineering for MLenabled systems. In this paper, we adopt this system view, and conduct a case study on Rasa 3.0, an industrial dialogue system that has been widely adopted by various companies around the world. Our goal is to characterize the complexity of such a largescale ML-enabled system and to understand the impact of the complexity on testing. Our study reveals practical implications for software engineering for ML-enabled systems.

cs.SE↗