Testing autonomous robotic manipulators is challenging due to the complex software interactions between vision and control components. A crucial element of modern robotic manipulators is the deep learning based object detection model. The creation and assessment of this model requires real world data, which can be hard to label and collect, especially when the hardware setup is not available. The current techniques primarily focus on using synthetic data to train deep neural networks (DDNs) and identifying failures through offline or online simulation-based testing. However, the process of exploiting the identified failures to uncover design flaws early on, and leveraging the optimized DNN within the simulation to accelerate the engineering of the DNN for real-world tasks remains unclear. To address these challenges, we propose the MARTENS (Manipulator Robot Testing and Enhancement in Simulation) framework, which integrates a photorealistic NVIDIA Isaac Sim simulator with evolutionary search to identify critical scenarios aiming at improving the deep learning vision model and uncovering system design flaws. Evaluation of two industrial case studies demonstrated that MARTENS effectively reveals robotic manipulator system failures, detecting 25% to 50% more failures with greater diversity compared to random test generation. The model trained and repaired using the MARTENS approach achieved mean average precision (mAP) scores of 0.91 and 0.82 on real-world images with no prior retraining. Further fine-tuning on real-world images for a few epochs (less than 10) increased the mAP to 0.95 and 0.89 for the first and second use cases, respectively. In contrast, a model trained solely on real-world data achieved mAPs of 0.8 and 0.75 for use case 1 and use case 2 after more than 25 epochs.

Deep reinforcement learning (DRL) is increasingly applied in large-scale productions like Netflix and Facebook. As with most data-driven systems, DRL systems can exhibit undesirable behaviors due to environmental drifts, which often occur in constantly-changing production settings. Continual Learning (CL) is the inherent self-healing approach for adapting the DRL agent in response to the environment's conditions shifts. However, successive shifts of considerable magnitude may cause the production environment to drift from its original state. Recent studies have shown that these environmental drifts tend to drive CL into long, or even unsuccessful, healing cycles, which arise from inefficiencies such as catastrophic forgetting, warm-starting failure, and slow convergence. In this paper, we propose Dr. DRL, an effective self-healing approach for DRL systems that integrates a novel mechanism of intentional forgetting into vanilla CL (i.e., standard CL) to overcome its main issues. Dr. DRL deliberately erases the DRL system's minor behaviors to systematically prioritize the adaptation of the key problem-solving skills. Using well-established DRL algorithms, Dr. DRL is compared with vanilla CL on various drifted environments. Dr. DRL is able to reduce, on average, the healing time and fine-tuning episodes by, respectively, 18.74% and 17.72%. Dr. DRL successfully helps agents to adapt to 19.63% of drifted environments left unsolved by vanilla CL while maintaining and even enhancing by up to 45% the obtained rewards for drifted environments that are resolved by both approaches.

At present, we are witnessing an increasing effort to improve the performance and trustworthiness of Deep Neural Networks (DNNs), with the aim to enable their adoption in safety critical systems such as self-driving cars or aircraft collision-avoidance systems. Multiple testing techniques are proposed to generate test cases that can expose inconsistencies in the behavior of DNN models. These techniques assume implicitly that the training program is bug-free and appropriately configured. However, satisfying this assumption for a novel problem requires significant engineering work to prepare the data, design the DNN, implement the training program, and tune the hyperparameters to produce the model for which current automated test data generators search for corner-case behaviors. All these model training steps can be error prone. Therefore, it is crucial to detect and correct errors throughout all the engineering steps of DNN-based software systems and not only on the resulting DNN model. In this article, we gather a catalog of training issues and based on their symptoms and their effects on the behavior of the training program, we propose practical verification routines to detect the aforementioned issues, automatically, by continuously validating that some important properties of the learning dynamics hold during the training. Then, we design TheDeepChecker , an end-to-end property-based debugging approach for DNN training programs and implement it as a TensorFlow-based library. As an empirical evaluation, we conduct a case study to assess the effectiveness of TheDeepChecker on synthetic and real-world buggy DL programs and compare its performance to that of the Amazon SageMaker Debugger ( SMD ). Results show that TheDeepChecker ’s on-execution validation of DNN-based program’s properties through three sequential phases (pre-, on-, and post-fitting) succeeds in revealing several coding bugs and system misconfigurations errors early on and at a low cost. Moreover, our property-based approach outperforms the SMD ’s offline rules verification on training logs in terms of detection accuracy for unstable learning issues and coverage of additional DL bugs.

In the context of aircraft system performance assessment, deep learning technologies allow us to quickly infer models from experimental measurements, with less detailed system knowledge than usually required by physics-based modeling. However, this inexpensive model development also comes with new challenges regarding model trustworthiness. This article presents a novel approach, physics-guided adversarial machine learning (ML), which improves the confidence over the physics consistency of the model. The approach performs, first, a physics-guided adversarial testing phase to search for test inputs revealing behavioral system inconsistencies, while still falling within the range of foreseeable operational conditions. Then, it proceeds with a physics-informed adversarial training to teach the model the system-related physics domain foreknowledge through iteratively reducing the unwanted output deviations on the previously uncovered counterexamples. Empirical evaluation on two aircraft system performance models shows the effectiveness of our adversarial ML approach in exposing physical inconsistencies of both the models and in improving their propensity to be consistent with physics domain knowledge.

Aircraft industry is constantly striving for more efficient design optimization methods in terms of human efforts, computation time, and resources consumption. Hybrid surrogate optimization maintains high results quality while providing rapid design assessments when both the surrogate model and the switch mechanism for eventually transitioning to the HF model are calibrated properly. Feedforward neural networks (FNNs) can capture highly nonlinear input-output mappings, yielding efficient surrogates for aircraft performance factors. However, FNNs often fail to generalize over the out-of-distribution (OOD) samples, which hinders their adoption in critical aircraft design optimization. Through SmOOD, our smoothness-based out-of-distribution detection approach, we propose to codesign a model-dependent OOD indicator with the optimized FNN surrogate, to produce a trustworthy surrogate model with selective but credible predictions. Unlike conventional uncertainty-grounded methods, SmOOD exploits inherent smoothness properties of the HF simulations to effectively expose OODs through revealing their suspicious sensitivities, thereby avoiding over-confident uncertainty estimates on OOD samples. By using SmOOD, only high-risk OOD inputs are forwarded to the HF model for re-evaluation, leading to more accurate results at a low overhead cost. Three aircraft performance models are investigated. Results show that FNN-based surrogates outperform their Gaussian Process counterparts in terms of predictive performance. Moreover, SmOOD does cover averagely of actual OODs on all the study cases. When SmOOD plus FNN surrogates are deployed in hybrid surrogate optimization settings, they result in a decrease error rate of and a computational speed up rate of 58.36 ×, respectively.

Nowadays, we are witnessing an increasing demand in both corporates and academia for exploiting Deep Learning ( DL ) to solve complex real-world problems. A DL program encodes the network structure of a desirable DL model and the process by which the model learns from the training dataset. Like any software, a DL program can be faulty, which implies substantial challenges of software quality assurance, especially in safety-critical domains. It is therefore crucial to equip DL development teams with efficient fault detection techniques and tools. In this article, we propose NeuraLint , a model-based fault detection approach for DL programs, using meta-modeling and graph transformations. First, we design a meta-model for DL programs that includes their base skeleton and fundamental properties. Then, we construct a graph-based verification process that covers 23 rules defined on top of the meta-model and implemented as graph transformations to detect faults and design inefficiencies in the generated models (i.e., instances of the meta-model). First, the proposed approach is evaluated by finding faults and design inefficiencies in 28 synthesized examples built from common problems reported in the literature. Then NeuraLint successfully finds 64 faults and design inefficiencies in 34 real-world DL programs extracted from Stack Overflow posts and GitHub repositories. The results show that NeuraLint effectively detects faults and design issues in both synthesized and real-world examples with a recall of 70.5% and a precision of 100%. Although the proposed meta-model is designed for feedforward neural networks, it can be extended to support other neural network architectures such as recurrent neural networks. Researchers can also expand our set of verification rules to cover more types of issues in DL programs.

Deep learning practitioners are often interested in improving their model accuracy rather than the interpretability of their models. As a result, deep learning applications are inherently complex in their structures. They also need to continuously evolve in terms of code changes and model updates. Given these confounding factors, there is a great chance of violating the recommended programming practices by the developers in their deep learning applications. In particular, the code quality might be negatively affected due to their drive for the higher model performance. Unfortunately, the code quality of deep learning applications has rarely been studied to date. In this paper, we conduct an empirical study to investigate the distribution of code smells in deep learning applications. To this end, we perform a comparative analysis between deep learning and traditional open-source applications collected from GitHub. We have several major findings. First, long lambda expression, long ternary conditional expression, and complex container comprehension smells are frequently found in deep learning projects. That is, deep learning code involves more complex or longer expressions than the traditional code does. Second, the number of code smells increases across the releases of deep learning applications. Third, we found that there is a co-existence between code smells and software bugs in the studied deep learning code, which confirms our conjecture on the degraded code quality of deep learning applications.

The increasing inclusion of Deep Learning (DL) models in safety-critical systems such as autonomous vehicles have led to the development of multiple model-based DL testing techniques. One common denominator of these testing techniques is the automated generation of test cases, e.g., new inputs transformed from the original training data with the aim to optimize some test adequacy criteria. So far, the effectiveness of these approaches has been hindered by their reliance on random fuzzing or transformations that do not always produce test cases with a good diversity. To overcome these limitations, we propose, DeepEvolution, a novel search-based approach for testing DL models that relies on metaheuristics to ensure a maximum diversity in generated test cases. We assess the effectiveness of DeepEvolution in testing computer-vision DL models and found that it significantly increases the neuronal coverage of generated test cases. Moreover, using DeepEvolution, we could successfully find several corner-case behaviors. Finally, DeepEvolution outperformed Tensorfuzz (a coverage-guided fuzzing tool developed at Google Brain) in detecting latent defects introduced during the quantization of the models. These results suggest that search-based approaches can help build effective testing tools for DL systems.

The increasing inclusion of Machine Learning (ML) models in safety-critical systems like autonomous cars have led to the development of multiple model-based ML testing techniques. One common denominator of these testing techniques is their assumption that training programs are adequate and bug-free. These techniques only focus on assessing the performance of the constructed model using manually labeled data or automatically generated data. However, their assumptions about the training program are not always true as training programs can contain inconsistencies and bugs. In this paper, we examine training issues in ML programs and propose a catalog of verification routines that can be used to detect the identified issues, automatically. We implemented the routines in a Tensorflow-based library named TFCheck. Using TFCheck, practitioners can detect the aforementioned issues automatically. To assess the effectiveness of TFCheck, we conducted a case study with real-world, mutants, and synthetic training programs. Results show that TFCheck can successfully detect training issues in ML code implementations.

Recent advances in computing technologies and the availability of huge volumes of data have sparked a new machine learning (ML) revolution, where almost every day a new headline touts the demise of human experts by ML models on some task. Open source software development is rumoured to play a significant role in this revolution, with both academics and large corporations such as Google and Microsoft releasing their ML frameworks under an open source license. This paper takes a step back to examine and understand the role of open source development in modern ML, by examining the growth of the open source ML ecosystem on GitHub, its actors, and the adoption of frameworks over time. By mining LinkedIn and Google Scholar profiles, we also examine driving factors behind this growth (paid vs. voluntary contributors), as well as the major players who promote its democratization (companies vs. communities), and the composition of ML development teams (engineers vs. scientists). According to the technology adoption lifecycle, we find that ML is in between the stages of early adoption and early majority. Furthermore, companies are the main drivers behind open source ML, while the majority of development teams are hybrid teams comprising both engineers and professional scientists. The latter correspond to scientists employed by a company, and by far represent the most active profiles in the development of ML applications, which reflects the importance of a scientific background for the development of ML frameworks to complement coding skills. The large influence of cloud computing companies on the development of open source ML frameworks raises the risk of vendor lock-in. These frameworks, while open source, could be optimized for specific commercial cloud offerings.