Dániel Horváth

Dániel Horváth, Gábor Erdős, Zoltán Istenes et al.

Robots working in unstructured environments must be capable of sensing and interpreting their surroundings. One of the main obstacles of deep-learning-based models in the field of robotics is the lack of domain-specific labeled data for different industrial applications. In this article, we propose a sim2real transfer learning method based on domain randomization for object detection with which labeled synthetic datasets of arbitrary size and object types can be automatically generated. Subsequently, a state-of-the-art convolutional neural network, YOLOv4, is trained to detect the different types of industrial objects. With the proposed domain randomization method, we could shrink the reality gap to a satisfactory level, achieving 86.32% and 97.38% mAP50 scores, respectively, in the case of zero-shot and one-shot transfers, on our manually annotated dataset containing 190 real images. Our solution fits for industrial use as the data generation process takes less than 0.5 s per image and the training lasts only around 12 h, on a GeForce RTX 2080 Ti GPU. Furthermore, it can reliably differentiate similar classes of objects by having access to only one real image for training. To our best knowledge, this is the only work thus far satisfying these constraints.

Viktor Csuvik, Dániel Horváth, Márk Lajkó et al.

Despite the immense popularity of the Automated Program Repair (APR) field, the question of patch validation is still open. Most of the present-day approaches follow the so-called Generate-and-Validate approach, where first a candidate solution is being generated and after validated against an oracle. The latter, however, might not give a reliable result, because of the imperfections in such oracles; one of which is usually the test suite. Although (re-) running the test suite is right under one's nose, in real life applications the problem of over- and underfitting often occurs, resulting in inadequate patches. Efforts that have been made to tackle with this problem include patch filtering, test suite expansion, careful patch producing and many more. Most approaches to date use post-filtering relying either on test execution traces or make use of some similarity concept measured on the generated patches. Our goal is to investigate the nature of these similarity-based approaches. To do so, we trained a Doc2Vec model on an open-source JavaScript project and generated 465 patches for 10 bugs in it. These plausible patches alongside with the developer fix are then ranked based on their similarity to the original program. We analyzed these similarity lists and found that plain document embeddings may lead to misclassification - it fails to capture nuanced code semantics. Nevertheless, in some cases it also provided useful information, thus helping to better understand the area of Automated Program Repair.