As the cost of mobile robots decreases, employing multiple robots for complex tasks to enhance efficiency of implementation becomes increasingly viable. Coordinating robots to achieve multiple targets in dynamic environments with limited local information is challenging. Multi-agent reinforcement learning demonstrates much promise in enhancing robot collaboration, yet its effectiveness in partially observable environments remains a challenge. This study proposes a novel multi-agent reinforcement learning framework incorporating artificial potential field information to address this issue. We present an improved artificial potential field method for extracting environmental information and integrate it into our multi-agent reinforcement learning framework, enabling cooperative path planning among agents. Simulations and real-world experiments on robotic platforms demonstrate the efficacy of our approach in improving multi-agent coordination and task performance in complex environments. Our work contributes to the advancement of multi-agent reinforcement learning algorithms for practical robotic applications, offering insights into combining classical control methods with modern learning-based techniques.

Machine Learning (ML) software employs statistical algorithms to perform high-stake tasks in our daily lives, whose results are usually discriminatory due to protected features (e.g., gender), i.e., one part (called privileged, e.g., male) may be more likely to obtain beneficial decisions than the other part (called unprivileged, e.g., female). In alleviating the unfairness, developers have obtained widely held beliefs about the tradeoff between performance and fairness for ML software. Surprisingly, recent research on feature engineering suggests that enlarging the feature set is the perfect way to kill two birds with one stone, i.e., achieving both higher performance and fairness. However, the experiments used in the prior study did not remove the effect of protected features, which have been suggested to be excluded in both industrial applications and academic studies. As a result, the study did not fully explore the tradeoff between performance and fairness. In this article, we first conduct an empirical study to replicate this prior study after excluding the protected features and observe that there is still a tradeoff between performance and fairness with enlarging the features, i.e., more features are not perfect, which would lead to higher performance and lower fairness. Due to more features causing more collection and pre-processing budgets, we aim to search for an effective alternative. Inspired by the “less is more” principle, we propose a novel feature ranking method, Hybrid-importance and Early-validation based Feature Ranking (HEFR) , to find an efficient subset to replace the full feature set with comparable performance and fairness. Our method, HEFR, employs hybrid feature importances to combine performance and fairness and conducts early validation to check the effectiveness of hybrid importances. We conduct experiments on seven datasets and three classifiers to evaluate our method with five baselines. The results have shown that (a) HEFR is efficient for ML software feature engineering: applying HEFR to choose about 10% of features would construct ML software with better or comparable performance and fairness, and (b) HEFR is actionable with small dataset sizes: applying HEFR with only 10% data size would still help choose the proper feature subset.

Code review is an essential process to ensure the quality of software that identifies potential software issues at an early stage of software development. Among all software issues, security issues are the most important to identify, as they can easily lead to severe software crashes and service disruptions. Recent research efforts have been devoted to automated approaches to reduce the manual efforts required in the secure code review process. Despite the progress, current automated approaches on secure code review, including static analysis, deep learning models, and prompting approaches, still face the challenges of limited precision and coverage, and a lack of comprehensive evaluation.To mitigate these challenges, we propose iCodeReviewer, which is an automated secure code review approach based on large language models (LLMs). iCodeReviewer leverages a novel mixture-of-prompts architecture that incorporates many prompt experts to improve the coverage of security issues. Each prompt expert is a dynamic prompt pipeline to check the existence of a specific security issue. iCodeReviewer also implements an effective routing algorithm to activate only necessary prompt experts based on the code features in the input program, reducing the false positives induced by LLM hallucination. Experiment results in our internal dataset demonstrate the effectiveness of iCodeReviewer in security issue identification and localization with an F1 of 63.98%. The review comments generated by iCodeReviewer also achieve a high acceptance rate up to 84% when it is deployed in production environments.

Summary Natural language inference (NLI) is a task to infer the relationship between the premise and hypothesis sentences, whose models have essential applications in the many natural language processing (NLP) fields, for example, machine reading comprehension and recognizing textual entailment. Due to the data‐driven programming paradigm, bugs inevitably occur in NLI models during the application process, which calls for novel automatic testing techniques to deal with NLI testing challenges. The main difficulty in achieving automatic testing for NLI models is the oracle problem; that is, it may be too expensive to label NLI model inputs manually and hence be too challenging to verify the correctness of model outputs. To tackle the oracle problem, this study proposes a novel automatic testing method hybrid mutation driven testing (HMT), which extends the mutation idea applied in other NLP domains successfully. Specifically, as there are two sets of sentences, that is, premise and hypothesis, to be mutated, we propose four mutation operators to achieve the hybrid mutation strategy, which mutate the premise and the hypothesis sentences jointly or individually. We assume that the mutation would not affect the outputs; that is, if the original and mutated outputs are inconsistent, inconsistency bugs could be detected without knowing the true labels. To evaluate our method HMT, we conduct experiments on two widely used datasets with two advanced models and generate more than 520,000 mutations by applying our mutation operators. Our experimental results show that (a) our method, HMT, can effectively generate mutated testing samples, (b) our method can effectively trigger the inconsistency bugs of the NLI models, and (c) all four mutation operators can independently trigger inconsistency bugs.

With the widespread application of machine learning (ML) software, especially in high-risk tasks, the concern about their unfairness has been raised towards both developers and users of ML software. The unfairness of ML software indicates the software behavior affected by the sensitive features (e.g., sex), which leads to biased and illegal decisions and has become a worthy problem for the whole software engineering community.

The boom of DL technology leads to massive DL models built and shared, which facilitates the acquisition and reuse of DL models. For a given task, we encounter multiple DL models available with the same functionality, which are considered as candidates to achieve this task. Testers are expected to compare multiple DL models and select the more suitable ones w.r.t. the whole testing context. Due to the limitation of labeling effort, testers aim to select an efficient subset of samples to make an as precise rank estimation as possible for these models. To tackle this problem, we propose Sample Discrimination based Selection (SDS) to select efficient samples that could discriminate multiple models, i.e., the prediction behaviors (right/wrong) of these samples would be helpful to indicate the trend of model performance. To evaluate SDS, we conduct an extensive empirical study with three widely-used image datasets and 80 real world DL models. The experiment results show that, compared with state-of-the-art baseline methods, SDS is an effective and efficient sample selection method to rank multiple DL models.