arXiv subjects

Shenglin Xu

Publications and source records attributed to Shenglin Xu.

4 recordsLinked to original sources

arXiv2026

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation

Vision-Language-Action (VLA) models have become a powerful framework for robotic manipulation, and recent studies have introduced tactile or force feedback into VLAs to address contact-rich tasks. However, these models are typically deployed as offline policies. When contact conditions shift from the training distribution, the policy cannot perform online adaptation, leading to problems such as inappropriate contact forces and inefficient retries. Therefore, we propose TORL-VLA, a tactile-guided online reinforcement learning framework that couples tactile feedback with policy refinement for contact-rich manipulation. Our method introduces a tactile-derived wrench-aware VLA to predict reference actions and future wrench sequences, while a lightweight online RL module is used to refine the reference actions. To stabilize learning from mixed exploratory policy-generated and human-intervention data, we introduce an intervention-censored critic that prevents post-intervention success from being wrongly credited to policy-generated actions preceding intervention. Real-robot experiments on long-horizon contact-rich tasks, including latch manipulation, coffee-cup placement, and egg handling, show that TORL-VLA improves success rates at both subtask and full-task levels, as well as time-bounded execution efficiency over strong baselines. Project page: https://torl-vla.github.io/

cs.RO↗

arXiv2026

FuzzySQL: Uncovering Hidden Vulnerabilities in DBMS Special Features with LLM-Driven Fuzzing

Traditional database fuzzing techniques primarily focus on syntactic correctness and general SQL structures, leaving critical yet obscure DBMS features, such as system-level modes (e.g., GTID), programmatic constructs (e.g., PROCEDURE), advanced process commands (e.g., KILL), largely underexplored. Although rarely triggered by typical inputs, these features can lead to severe crashes or security issues when executed under edge-case conditions. In this paper, we present FuzzySQL, a novel LLM-powered adaptive fuzzing framework designed to uncover subtle vulnerabilities in DBMS special features. FuzzySQL combines grammar-guided SQL generation with logic-shifting progressive mutation, a novel technique that explores alternative control paths by negating conditions and restructuring execution logic, synthesizing structurally and semantically diverse test cases. To further ensure deeper execution coverage of the back end, FuzzySQL employs a hybrid error repair pipeline that unifies rule-based patching with LLM-driven semantic repair, enabling automatic correction of syntactic and context-sensitive failures. We evaluate FuzzySQL across multiple DBMSs, including MySQL, MariaDB, SQLite, PostgreSQL and Clickhouse, uncovering 64 vulnerabilities, 27 of which are tied to under-tested DBMS special features. As of this writing, 60 cases have been confirmed with 9 assigned CVE identifiers, 31 already fixed by vendors, and additional vulnerabilities scheduled to be patched in upcoming releases. Our results highlight the limitations of conventional fuzzers in semantic feature coverage and demonstrate the potential of LLM-based fuzzing to discover deeply hidden bugs in complex database systems.

cs.DB↗

arXiv2025

GFS: A Preemption-aware Scheduling Framework for GPU Clusters with Predictive Spot Instance Management

The surge in large language models (LLMs) has fundamentally reshaped the landscape of GPU usage patterns, creating an urgent need for more efficient management strategies. While cloud providers employ spot instances to reduce costs for low-priority (LP) tasks, existing schedulers still grapple with high eviction rates and lengthy queuing times. To address these limitations, we present GFS, a novel preemptive scheduling framework that enhances service-level objective (SLO) compliance for high-priority (HP) tasks while minimizing preemptions to LP tasks. Firstly, GFS utilizes a lightweight forecasting model that predicts GPU demand among different tenants, enabling proactive resource management. Secondly, GFS employs a dynamic allocation mechanism to adjust the spot quota for LP tasks with guaranteed durations. Lastly, GFS incorporates a preemptive scheduling policy that prioritizes HP tasks while minimizing the impact on LP tasks. We demonstrate the effectiveness of GFS through both real-world implementation and simulations. The results show that GFS reduces eviction rates by 33.0\%, and cuts queuing delays by 44.1\% for LP tasks. Furthermore, GFS enhances the GPU allocation rate by up to 22.8\% in real production clusters. In a production cluster of more than 10,000 GPUs, GFS yields roughly \$459,715 in monthly benefits.

cs.DC↗

arXiv2023

Enhancing carrier transfer properties of Na-rich anti-perovskites, Na4OM2 with tetrahedral anion groups: an evaluation through first-principles computational analysis

The practical application of Na-based solid-state electrolytes (SSEs) is limited by their low level of conduction. To evaluate the impact of tetrahedral anion groups on carrier migration, we designed a set of anti-perovskite SSEs theoretically based on the previously reported Na4OBr2, including Na4O(BH4)2, Na4O(BF4)2, and Na4O(AlH4)2. It is essential to note that the excessive radius of anionic groups inevitably leads to lattice distortion, resulting in asymmetric migration paths and a limited improvement in carrier migration rate. Na4O(AlH4)2 provides a clear example of where Na migrates in two distinct environments. In addition, due to different spatial charge distributions, the interaction strength between anionic groups and Na is different. Strong interactions can cause carriers to appear on a swing, leading to a decrease in conductivity. The low conductivity of Na4O(BF4)2 is a typical example. This study demonstrates that Na4O(BH4)2 exhibits remarkable mechanical and dynamic stability and shows ionic conductivity, two orders of magnitude higher than that of Na4OBr2. This is attributed to the expansion of the carrier migration channels by the anion groups, the moderate interaction between carriers and anionic groups, and the paddle-wheel effect generated by the anion groups, indicating that the paddle-wheel effect is still effective in low-dimensional anti-perovskite structures, in which atoms are arranged asymmetrically.

cond-mat.mtrl-sci↗