arXiv subjects

Shaukat Ali

Publications and source records attributed to Shaukat Ali.

At least 37 records · Page 2Linked to original sources

arXiv2025

Out of Distribution Detection in Self-adaptive Robots with AI-powered Digital Twins

Self-adaptive robots (SARs) in complex, uncertain environments must proactively detect and address abnormal behaviors, including out-of-distribution (OOD) cases. To this end, digital twins offer a valuable solution for OOD detection. Thus, we present a digital twin-based approach for OOD detection (ODiSAR) in SARs. ODiSAR uses a Transformer-based digital twin to forecast SAR states and employs reconstruction error and Monte Carlo dropout for uncertainty quantification. By combining reconstruction error with predictive variance, the digital twin effectively detects OOD behaviors, even in previously unseen conditions. The digital twin also includes an explainability layer that links potential OOD to specific SAR states, offering insights for self-adaptation. We evaluated ODiSAR by creating digital twins of two industrial robots: one navigating an office environment, and another performing maritime ship navigation. In both cases, ODiSAR forecasts SAR behaviors (i.e., robot trajectories and vessel motion) and proactively detects OOD events. Our results showed that ODiSAR achieved high detection performance -- up to 98\% AUROC, 96\% TNR@TPR95, and 95\% F1-score -- while providing interpretable insights to support self-adaptation.

cs.RO↗

arXiv2025

Vision Language Model-based Testing of Industrial Autonomous Mobile Robots

PAL Robotics, in Spain, builds a variety of Autonomous Mobile Robots (AMRs), which are deployed in diverse environments (e.g., warehouses, retail spaces, and offices), where they work alongside humans. Given that human behavior can be unpredictable and that AMRs may not have been trained to handle all possible unknown and uncertain behaviors, it is important to test AMRs under a wide range of human interactions to ensure their safe behavior. Moreover, testing in real environments with actual AMRs and humans is often costly, impractical, and potentially hazardous (e.g., it could result in human injury). To this end, we propose a Vision Language Model (VLM)-based testing approach (RVSG) for industrial AMRs developed together with PAL Robotics. Based on the functional and safety requirements, RVSG uses the VLM to generate diverse human behaviors that violate these requirements. We evaluated RVSG with several requirements and navigation routes in a simulator using the latest AMR from PAL Robotics. Our results show that, compared with the baseline, RVSG can effectively generate requirement-violating scenarios. Moreover, RVSG-generated scenarios increase variability in robot behavior, thereby helping reveal their uncertain behaviors.

cs.SE↗

arXiv2025

Quantum Machine Learning-based Test Oracle for Autonomous Mobile Robots

Robots are increasingly becoming part of our daily lives, interacting with both the environment and humans to perform their tasks. The software of such robots often undergoes upgrades, for example, to add new functionalities, fix bugs, or delete obsolete functionalities. As a result, regression testing of robot software becomes necessary. However, determining the expected correct behavior of robots (i.e., a test oracle) is challenging due to the potentially unknown environments in which the robots must operate. To address this challenge, machine learning (ML)-based test oracles present a viable solution. This paper reports on the development of a test oracle to support regression testing of autonomous mobile robots built by PAL Robotics (Spain), using quantum machine learning (QML), which enables faster training and the construction of more precise test oracles. Specifically, we propose a hybrid framework, QuReBot, that combines both quantum reservoir computing (QRC) and a simple neural network, inspired by residual connection, to predict the expected behavior of a robot. Results show that QRC alone fails to converge in our case, yielding high prediction error. In contrast, QuReBot converges and achieves 15% reduction of prediction error compared to the classical neural network baseline. Finally, we further examine QuReBot under different configurations and offer practical guidance on optimal settings to support future robot software testing.

cs.SE↗

arXiv2025

Evaluating Uncertainty and Quality of Vision-Language-Action-enabled Robots

Vision-Language-Action (VLA)-enabled robots integrate visual perception, natural language understanding, and action planning to interpret their environment, comprehend instructions, and perform embodied tasks autonomously. Such robots are typically evaluated through task success rates, i.e., whether a robot performs its intended task, which are commonly used as test oracles for evaluating such robots. Such an evaluation fails to capture the quality of task execution and the robot's confidence in its decisions. In this paper, we adapt eight uncertainty metrics and five quality metrics specifically designed for VLA-enabled robotic manipulation tasks. We assess their effectiveness through a large-scale empirical study involving 908 successful task executions from three state-of-the-art VLA models across four representative robotic manipulation tasks and two robot embodiments. Human domain experts manually labeled task quality, enabling us to analyze the correlation between our proposed metrics and expert judgments, serving as a human oracle for testing such robots. The results reveal that several metrics show moderate to strong correlation with human assessments, highlighting their utility for evaluating task quality and model confidence. Furthermore, we found that some metrics can discriminate between high-, medium-, and low-quality executions from unsuccessful tasks, which is useful when test oracles are absent. Our findings challenge the adequacy of current evaluation practices that rely solely on binary success rates and pave the way for improved real-time monitoring and adaptive enhancement of VLA-enabled robots.

cs.SE↗

arXiv2025

Search-based Generation of Waypoints for Triggering Self-Adaptations in Maritime Autonomous Vessels

Self-adaptation in maritime autonomous vessels (AVs) enables them to adapt their behaviors to address unexpected situations while maintaining dependability requirements. During the design of such AVs, it is crucial to understand and identify the settings that should trigger adaptations, enabling validation of their implementation. To this end, we focus on the navigation software of AVs, which must adapt their behavior during operation through adaptations. AVs often rely on predefined waypoints to guide them along designated routes, ensuring safe navigation. We propose a multiobjective search-based approach, called WPgen, to generate minor modifications to the predefined set of waypoints, keeping them as close as possible to the original waypoints, while causing the AV to navigate inappropriately when navigating with the generated waypoints. WPgen uses NSGA-II as the multi-objective search algorithm with three seeding strategies for its initial population, resulting in three variations of WPgen. We evaluated these variations on three AVs (one overwater tanker and two underwater). We compared the three variations of WPgen with Random Search as the baseline and with each other. Experimental results showed that the effectiveness of these variations varied depending on the AV. Based on the results, we present the research and practical implications of WPgen.

cs.SE↗

arXiv2025

Search-based Selection of Metamorphic Relations for Optimized Robustness Testing of Large Language Models

Assessing the trustworthiness of Large Language Models (LLMs), such as robustness, has garnered significant attention. Recently, metamorphic testing that defines Metamorphic Relations (MRs) has been widely applied to evaluate the robustness of LLM executions. However, the MR-based robustness testing still requires a scalable number of MRs, thereby necessitating the optimization of selecting MRs. Most extant LLM testing studies are limited to automatically generating test cases (i.e., MRs) to enhance failure detection. Additionally, most studies only considered a limited test space of single perturbation MRs in their evaluation of LLMs. In contrast, our paper proposes a search-based approach for optimizing the MR groups to maximize failure detection and minimize the LLM execution cost. Moreover, our approach covers the combinatorial perturbations in MRs, facilitating the expansion of test space in the robustness assessment. We have developed a search process and implemented four search algorithms: Single-GA, NSGA-II, SPEA2, and MOEA/D with novel encoding to solve the MR selection problem in the LLM robustness testing. We conducted comparative experiments on the four search algorithms along with a random search, using two major LLMs with primary Text-to-Text tasks. Our statistical and empirical investigation revealed two key findings: (1) the MOEA/D algorithm performed the best in optimizing the MR space for LLM robustness testing, and (2) we identified silver bullet MRs for the LLM robustness testing, which demonstrated dominant capabilities in confusing LLMs across different Text-to-Text tasks. In LLM robustness assessment, our research sheds light on the fundamental problem for optimized testing and provides insights into search-based solutions.

cs.SE↗

arXiv2025

Bloch Vector Assertions for Debugging Quantum Programs

Quantum programs must be reliable to ensure trustworthy results, yet debugging them is notoriously challenging due to quantum-specific faults like gate misimplementations and hardware noise, as well as their inherently probabilistic nature. Assertion-based debugging provides a promising solution by enabling localized correctness checks during execution. However, current approaches face challenges including manual assertion generation, reliance on mid-circuit-measurements, and poor scalability. In this paper, we present Bloq, a scalable, automated fault localization approach introducing Bloch-vector-based assertions utilizing expectation value measurements of Pauli operators, enabling low-overhead fault localization without mid-circuit measurements. In addition, we introduce AutoBloq, a component of Bloq for automatically generating assertion schemes from quantum algorithms. An experimental evaluation over 684432 programs using two algorithms (Quantum Fourier Transform (QFT) and Grover) shows that Bloq consistently outperforms the state-of-the-art approach Proq, notably as circuit depth and noise increase. For Grover, Bloq achieves a mean F1 score across all experimental instances of 0.74 versus 0.38 for Proq under ideal conditions, and maintains performance under noise (0.43 versus 0.06). Bloq also reduces Proq's runtime by a factor of 5 and circuit depth overhead by a factor of 23. These results underline Bloq's potential to make assertion-based debugging scalable and effective for near-term quantum devices.

quant-ph↗

arXiv2025

Search-Based Software Engineering and AI Foundation Models: Current Landscape and Future Roadmap

Search-based software engineering (SBSE), which integrates metaheuristic search techniques with software engineering, has been an active area of research for about 25 years. It has been applied to solve numerous problems across the entire software engineering lifecycle and has demonstrated its versatility in multiple domains. With recent advances in Artificial Intelligence (AI), particularly the emergence of foundation models (FMs) such as large language models (LLMs), the evolution of SBSE alongside these models remains undetermined. In this window of opportunity, we present a research roadmap that articulates the current landscape of SBSE in relation to FMs, identifies open challenges, and outlines potential research directions to advance SBSE through its synergy with FMs. Specifically, we analyze three core aspects: utilizing FMs to enhance SBSE, applying SBSE to advance FMs, and exploring the integration of SBSE and FMs. Furthermore, we present a forward-thinking perspective that envisions the future of SBSE in the era of FMs, highlighting promising research opportunities to address challenges in emerging domains.

cs.SE↗

arXiv2025

Software Engineering for Self-Adaptive Robotics: A Research Agenda

Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots exploit artificial intelligence (AI), machine learning, and model-driven engineering to adapt continuously to changing conditions, thereby ensuring reliability, safety, and optimal performance. This paper presents a research agenda for software engineering in self-adaptive robotics, structured along two dimensions. The first concerns the software engineering lifecycle, requirements, design, development, testing, and operations, tailored to the challenges of self-adaptive robotics. The second focuses on enabling technologies such as digital twins and AI-driven adaptation, which support runtime monitoring, fault detection, and automated decision-making. We identify open challenges, including verifying adaptive behaviours under uncertainty, balancing trade-offs between adaptability, performance, and safety, and integrating self-adaptation frameworks like MAPE K/MAPLE-K. By consolidating these challenges into a roadmap toward 2030, this work contributes to the foundations of trustworthy and efficient self-adaptive robotic systems capable of meeting the complexities of real-world deployment.

cs.SE↗

arXiv2025

Quantum Artificial Intelligence for Software Engineering: the Road Ahead

In order to handle the increasing complexity of software systems, Artificial Intelligence (AI) has been applied to various areas of software engineering, including requirements engineering, coding, testing, and debugging. This has led to the emergence of AI for Software Engineering as a distinct research area within the field of software engineering. With the development of quantum computing, the field of Quantum AI (QAI) is arising, enhancing the performance of classical AI and holding significant potential for solving classical software engineering problems. Some initial applications of QAI in software engineering have already emerged, such as test case optimization. However, the path ahead remains open, offering ample opportunities to solve complex software engineering problems cost-effectively with QAI. To this end, this paper presents a roadmap towards the application of QAI in software engineering. Specifically, we consider two of the main categories of QAI, i.e., quantum optimization algorithms and quantum machine learning. For each software engineering phase, we discuss how these QAI approaches can address some of the tasks associated with that phase. Moreover, we provide an overview of some of the possible challenges that need to be addressed to make the application of QAI for software engineering successful.

cs.SE↗

arXiv2025

Using quantum annealing to generate test cases for cyber-physical systems

Quantum computing has emerged as a powerful tool to efficiently solve computational challenges, particularly in simulation and optimisation. However, hardware limitations prevent quantum computers from achieving the full theoretical potential. Among the quantum algorithms, quantum annealing is a prime candidate to solve optimisation problems. This makes it a natural candidate for search-based software testing in the Cyber-Physical Systems (CPS) domain, which demands effective test cases due to their safety-critical nature. This work explores the use of quantum annealing to enhance test case generation for CPS through a mutation-based approach. We encode test case mutation as a binary optimisation problem, and use quantum annealing to identify and target critical regions of the test cases for improvement. Our approach mechanises this process into an algorithm that uses D-Wave's quantum annealer to find the solution. As a main contribution, we offer insights into how quantum annealing can advance software testing methodologies by empirically evaluating the correlation between problem size, hardware limitations, and the effectiveness of the results. Moreover, we compare the proposed method against state-of-the-art classical optimisation algorithms, targeting efficiency (time to generate test cases) and effectiveness (fault detection rates). Results indicate that quantum annealing enables faster test case generation while achieving comparable fault detection performance to state-of-the-art alternatives.

cs.ET↗

arXiv2025

Identifying Uncertainty in Self-Adaptive Robotics with Large Language Models

Future self-adaptive robots are expected to operate in highly dynamic environments while effectively managing uncertainties. However, identifying the sources and impacts of uncertainties in such robotic systems and defining appropriate mitigation strategies is challenging due to the inherent complexity of self-adaptive robots and the lack of comprehensive knowledge about the various factors influencing uncertainty. Hence, practitioners often rely on intuition and past experiences from similar systems to address uncertainties. In this article, we evaluate the potential of large language models (LLMs) in enabling a systematic and automated approach to identify uncertainties in self-adaptive robotics throughout the software engineering lifecycle. For this evaluation, we analyzed 10 advanced LLMs with varying capabilities across four industrial-sized robotics case studies, gathering the practitioners' perspectives on the LLM-generated responses related to uncertainties. Results showed that practitioners agreed with 63-88% of the LLM responses and expressed strong interest in the practicality of LLMs for this purpose.

cs.RO↗

arXiv2025

Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels

An autonomous vessel (AV) is a complex cyber-physical system (CPS) with software enabling many key functionalities, e.g., navigation software enables an AV to autonomously or semi-autonomously follow a path to its destination. Digital twins of such AVs enable advanced functionalities such as running what-if scenarios, performing predictive maintenance, and enabling fault diagnosis. Due to technological improvements, real-time analyses using continuous data from vessels' real-time operations have become increasingly possible. However, the literature has little explored developing advanced analyses in real-time data in AVs with digital twins built with machine learning techniques. To this end, we present a novel digital twin-based approach (ODDIT) to detect future out-of-distribution (OOD) states of an AV before reaching them, enabling proactive intervention. Such states may indicate anomalies requiring attention (e.g., manual correction by the ship master) and assist testers in scenario-centered testing. The digital twin consists of two machine-learning models predicting future vessel states and whether the predicted state will be OOD. We evaluated ODDIT with five vessels across waypoint and zigzag maneuvering under simulated conditions, including sensor and actuator noise and environmental disturbances i.e., ocean current. ODDIT achieved high accuracy in detecting OOD states, with AUROC and TNR@TPR95 scores reaching 99\% across multiple vessels.

cs.RO↗

arXiv2025

Foundation Models for Software Engineering of Cyber-Physical Systems: the Road Ahead

Foundation Models (FMs), particularly Large Language Models (LLMs), are increasingly used to support various software engineering activities (e.g., coding and testing). Their adoption in software engineering of Cyber-Physical Systems (CPSs) is also growing. However, research in this area remains limited. Most existing studies have primarily focused on LLMs, only one type of FM, leaving ample opportunities to explore other FMs, such as vision-language models. We argue that, in addition to LLMs, other FMs utilizing different data modalities (e.g., images, audio) and multimodal models (which integrate multiple modalities) hold great potential for supporting CPS software engineering, given that these systems process diverse data types. To address this, in this first systematic effort, we present a forward-looking research roadmap for integrating FMs into commonly known phases of CPS software engineering, thereby making it accessible to most software engineers. We derive the roadmap from the literature, emerging trends in FMs, and gaps identified from the literature. The roadmap highlights key challenges and actionable research opportunities for the software engineering community to guide future research. Moreover, we discuss the common challenges associated with applying FMs across six dimensions (e.g., technical, economic and resource, and human aspects). This roadmap aims to provide a visionary guide for researchers and practitioners, outlining directions for future work and performing future empirical studies.

cs.SE↗

arXiv2025

Reinforcement Learning for Testing Interdependent Requirements in Autonomous Vehicles: An Empirical Study

Autonomous vehicles (AVs) make driving decisions without humans, making dependability assurance critical. Scenario-based testing is widely used to evaluate AVs under diverse conditions, with reinforcement learning (RL) generating test scenarios that identify violations of functional and safety requirements. Many requirements are interdependent and involve trade-offs, making it unclear whether single-objective RL (SORL), which combines objectives into a single reward, can reliably reveal violations or whether multi-objective RL (MORL), which explicitly considers multiple objectives, is necessary. We present an empirical evaluation comparing SORL and MORL for generating critical scenarios that simultaneously test interdependent requirements using an end-to-end AV controller and high-fidelity simulator. Results suggest that MORL and SORL differ mainly in how violations occur, while showing comparable effectiveness in many cases. MORL tends to generate more requirement-violation scenarios, whereas SORL produces higher-severity violations. Their relative performance also depends on specific objective combinations and, to a lesser extent, road conditions. Regarding diversity, MORL consistently covers a broader range of scenarios. Thus, MORL is preferable when scenario diversity and coverage are prioritized, whereas SORL may better expose severe violations. Our empirical evaluation addresses a gap by systematically comparing SORL and MORL, highlighting the importance of requirement dependencies in RL-based AV testing.

cs.SE↗

arXiv2024

Testing Medical Rules Web Services in Practice

The Cancer Registry of Norway (CRN) collects and processes cancer-related data for patients in Norway. For this, it employs a sociotechnical software system that evolves with changing requirements and medical standards. The current practice is to manually test CRN's system to prevent faults and ensure its dependability. This paper focuses on automatically testing GURI, the CRN's medical rule engine, using a system-level testing tool, EvoMaster, in both its black-box and white-box modes, and a novel CRN-specific EvoMaster-based tool, EvoGURI. We empirically evaluate the tools' effectiveness regarding code coverage, errors found, domain-specific rule coverage, and ability to identify artificial faults ten versions of GURI. Our results show that all the tools achieve similar code coverage and identified a similar number of errors. For rule coverage, EvoGURI and EvoMaster's black-box mode produce test suites that cover the highest number of rules with Pass, Fail, and Warning results. The test suites of EvoGURI and two EvoMaster white-box tools identify the most faults in a mutation testing experiment. Based on our findings, we recommend using EvoGURI in CRN's current practice. Finally, we present key takeaways and outline open research questions for the research community.

cs.SE↗

arXiv2024

Quantum Neural Network Classifier for Cancer Registry System Testing: A Feasibility Study

The Cancer Registry of Norway (CRN) is a part of the Norwegian Institute of Public Health (NIPH) and is tasked with producing statistics on cancer among the Norwegian population. For this task, CRN develops, tests, and evolves a software system called Cancer Registration Support System (CaReSS). It is a complex socio-technical software system that interacts with many entities (e.g., hospitals, medical laboratories, and other patient registries) to achieve its task. For cost-effective testing of CaReSS, CRN has employed EvoMaster, an AI-based REST API testing tool combined with an integrated classical machine learning model. Within this context, we propose Qlinical to investigate the feasibility of using, inside EvoMaster, a Quantum Neural Network (QNN) classifier, i.e., a quantum machine learning model, instead of the existing classical machine learning model. Results indicate that Qlinical can achieve performance comparable to that of EvoClass. We further explore the effects of various QNN configurations on performance and offer recommendations for optimal QNN settings for future QNN developers.

cs.SE↗

arXiv2024

Envisioning Responsible Quantum Software Engineering and Quantum Artificial Intelligence

The convergence of Quantum Computing (QC), Quantum Software Engineering (QSE), and Artificial Intelligence (AI) presents transformative opportunities across various domains. However, existing methodologies inadequately address the ethical, security, and governance challenges arising from this technological shift. This paper highlights the urgent need for interdisciplinary collaboration to embed ethical principles into the development of Quantum AI (QAI) and QSE, ensuring transparency, inclusivity, and equitable global access. Without proactive governance, there is a risk of deepening digital inequalities and consolidating power among a select few. We call on the software engineering community to actively shape a future where responsible QSE and QAI are foundational for ethical, accountable, and socially beneficial technological progress.

cs.SE↗