ROCAS: Root Cause Analysis of Autonomous Driving Accidents via Cyber-Physical Co-mutation

As Autonomous driving systems (ADS) have transformed our daily life, safety of ADS is of growing significance. While various testing approaches have emerged to enhance the ADS reliability, a crucial gap remains in understanding the accidents causes. Such post-accident analysis is paramount and beneficial for enhancing ADS safety and reliability. Existing cyber-physical system (CPS) root cause analysis techniques are mainly designed for drones and cannot handle the unique challenges introduced by more complex physical environments and deep learning models deployed in ADS. In this paper, we address the gap by offering a formal definition of ADS root cause analysis problem and introducing ROCAS, a novel ADS root cause analysis framework featuring cyber-physical co-mutation. Our technique uniquely leverages both physical and cyber mutation that can precisely identify the accident-trigger entity and pinpoint the misconfiguration of the target ADS responsible for an accident. We further design a differential analysis to identify the responsible module to reduce search space for the misconfiguration. We study 12 categories of ADS accidents and demonstrate the effectiveness and efficiency of ROCAS in narrowing down search space and pinpointing the misconfiguration. We also show detailed case studies on how the identified misconfiguration helps understand rationale behind accidents.

CodeArt: Better Code Models by Attention Regularization When Symbols Are Lacking

Transformer based code models have impressive performance in many software engineering tasks. However, their effectiveness degrades when symbols are missing or not informative. The reason is that the model may not learn to pay attention to the right correlations/contexts without the help of symbols. We propose a new method to pre-train general code models when symbols are lacking. We observe that in such cases, programs degenerate to something written in a very primitive language. We hence propose to use program analysis to extract contexts a priori (instead of relying on symbols and masked language modeling as in vanilla models). We then leverage a novel attention masking method to only allow the model attending to these contexts, e.g., bi-directional program dependence transitive closures and token co-occurrences. In the meantime, the inherent self-attention mechanism is utilized to learn which of the allowed attentions are more important compared to others. To realize the idea, we enhance the vanilla tokenization and model architecture of a BERT model, construct and utilize attention masks, and introduce a new pre-training algorithm. We pre-train this BERT-like model from scratch, using a dataset of 26 million stripped binary functions with explicit program dependence information extracted by our tool. We apply the model in three downstream tasks: binary similarity, type inference, and malware family classification. Our pre-trained model can improve the SOTAs in these tasks from 53% to 64%, 49% to 60%, and 74% to 94%, respectively. It also substantially outperforms other general pre-training techniques of code understanding models.