arXiv subjects

Shixin Zhang

Publications and source records attributed to Shixin Zhang.

8 recordsLinked to original sources

arXiv2025

Co-Evolution of Types and Dependencies: Towards Repository-Level Type Inference for Python Code

Python's dynamic typing mechanism, while promoting flexibility, is a significant source of runtime type errors that plague large-scale software, which inspires the automatic type inference techniques. Existing type inference tools have achieved advances in type inference within isolated code snippets. However, repository-level type inference remains a significant challenge, primarily due to the complex inter-procedural dependencies that are difficult to model and resolve. To fill this gap, we present \methodName, a novel approach based on LLMs that achieves repository-level type inference through the co-evolution of types and dependencies. \methodName~constructs an Entity Dependency Graph (EDG) to model the objects and type dependencies across the repository. During the inference process, it iteratively refines types and dependencies in EDG for accurate type inference. Our key innovations are: (1) an EDG model designed to capture repository-level type dependencies; (2) an iterative type inference approach where types and dependencies co-evolve in each iteration; and (3) a type-checker-in-the-loop strategy that validates and corrects inferences on-the-fly, thereby reducing error propagation. When evaluated on 12 complex Python repositories, \methodName~significantly outperformed prior works, achieving a \textit{TypeSim} score of 0.89 and a \textit{TypeExact} score of 0.84, representing a 27\% and 40\% relative improvement over the strongest baseline. More importantly, \methodName~removed new type errors introduced by the tool by 92.7\%. This demonstrates a significant leap towards automated, reliable type annotation for real-world Python development.

cs.SE↗

arXiv2025

Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors

With the development of robotics technology, some tactile sensors, such as vision-based sensors, have been applied to contact-rich robotics tasks. However, the durability of vision-based tactile sensors significantly increases the cost of tactile information acquisition. Utilizing simulation to generate tactile data has emerged as a reliable approach to address this issue. While data-driven methods for tactile data generation lack robustness, finite element methods (FEM) based approaches require significant computational costs. To address these issues, we integrated a pinhole camera model into the low computational cost vision-based tactile simulator Tacchi that used the Material Point Method (MPM) as the simulated method, completing the simulation of marker motion images. We upgraded Tacchi and introduced Tacchi 2.0. This simulator can simulate tactile images, marked motion images, and joint images under different motion states like pressing, slipping, and rotating. Experimental results demonstrate the reliability of our method and its robustness across various vision-based tactile sensors.

cs.RO↗

arXiv2024

Efficient and Robust Parameter Optimization of the Unitary Coupled-Cluster Ansatz

The variational quantum eigensolver (VQE) framework has been instrumental in advancing near-term quantum algorithms. However, parameter optimization remains a significant bottleneck for VQE, requiring a large number of measurements for successful algorithm execution. In this paper, we propose sequential optimization with approximate parabola (SOAP) as an efficient and robust optimizer specifically designed for parameter optimization of the unitary coupled-cluster ansatz on quantum computers. SOAP leverages sequential optimization and approximates the energy landscape as quadratic functions, minimizing the number of energy evaluations required to optimize each parameter. To capture parameter correlations, SOAP incorporates the average direction from the previous iteration into the optimization direction set. Numerical benchmark studies on molecular systems demonstrate that SOAP achieves significantly faster convergence and greater robustness to noise compared to traditional optimization methods. Furthermore, numerical simulations up to 20 qubits reveal that SOAP scales well with the number of parameters in the ansatz. The exceptional performance of SOAP is further validated through experiments on a superconducting quantum computer using a 2-qubit model system.

physics.chem-ph↗

arXiv2024

Soft Contact Simulation and Manipulation Learning of Deformable Objects with Vision-based Tactile Sensor

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic deformation. In this paper, we describe a new deformable object manipulation method including soft contact simulation, manipulation learning, and sim-to-real transfer. We propose a novel approach utilizing Vision-Based Tactile Sensors (VBTSs) as the end-effector in simulation to produce observations like relative position, squeezed area, and object contour, which are transferable to real robots. For a more realistic contact simulation, a new simulation environment including elastic, plastic, and elastoplastic deformations is created. We utilize RL strategies to train agents in the simulation, and expert demonstrations are applied for challenging tasks. Finally, we build a real experimental platform to complete the sim-to-real transfer and achieve a 90% success rate on difficult tasks such as cylinder and sphere. To test the robustness of our method, we use plasticine of different hardness and sizes to repeat the tasks including cylinder and sphere. The experimental results show superior performances of deformable object manipulation with the proposed method.

cs.RO↗

arXiv2024

Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation.

cs.RO↗

arXiv2024

Accelerating Ensemble Error Bar Prediction with Single Models Fits

Ensemble models can be used to estimate prediction uncertainties in machine learning models. However, an ensemble of N models is approximately N times more computationally demanding compared to a single model when it is used for inference. In this work, we explore fitting a single model to predicted ensemble error bar data, which allows us to estimate uncertainties without the need for a full ensemble. Our approach is based on three models: Model A for predictive accuracy, Model $A_{E}$ for traditional ensemble-based error bar prediction, and Model B, fit to data from Model $A_{E}$, to be used for predicting the values of $A_{E}$ but with only one model evaluation. Model B leverages synthetic data augmentation to estimate error bars efficiently. This approach offers a highly flexible method of uncertainty quantification that can approximate that of ensemble methods but only requires a single extra model evaluation over Model A during inference. We assess this approach on a set of problems in materials science.

cs.LG↗

arXiv2023

Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors

Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer deformation physics is not considered in the former method, whereas the latter requires a massive amount of computational resources like a computer cluster. In this work, we propose a pluggable and low computational cost simulator using the Taichi programming language for simulating optical tactile sensors, named as Tacchi . It reconstructs elastomer deformation using particles, which allows deformed elastomer surfaces to be rendered into tactile images and reveals contact information without suffering from high computational costs. Tacchi facilitates creating realistic tactile images in simulation, e.g., ones that capture wear-and-tear defects on object surfaces. In addition, the proposed Tacchi can be integrated with robotics simulators for a robot system simulation. Experiment results showed that Tacchi can produce images with better similarity to real images and achieved higher Sim2Real accuracy compared to the existing methods. Moreover, it can be connected with MuJoCo and Gazebo with only the requirement of 1G memory space in GPU compared to a computer cluster applied for FEM. With Tacchi, physical robot simulation with optical tactile sensors becomes possible. All the materials in this paper are available at https://github.com/zixichen007115/Tacchi .

cs.RO↗

arXiv2022

A Comprehensive Evaluation of Android ICC Resolution Techniques

Inter-component communication (ICC) is a widely used mechanism in mobile apps, which enables message-based control flow transferring and data passing between Android components. Effective ICC resolution requires precisely identifying entry points, analyzing data values of ICC fields, modeling related framework APIs, etc. Due to various control-flow- and data-flow-related characteristics involved and the lack of oracles for real-world apps, the comprehensive evaluation of ICC resolution techniques is challenging. To fill this gap, we collect multiple-type benchmark suites with 4,104 apps, covering hand-made apps, open-source, and commercial ones. Considering their differences, various evaluation metrics, e.g., number count, graph structure, and reliable oracle based metrics, are adopted on-demand. As the oracle for real-world apps is unavailable, we design a dynamic analysis approach to extract the real ICC links triggered during GUI exploration. By auditing the code implementations, we carefully check the extracted ICCs and confirm 1,680 ones to form a reliable oracle set, in which each ICC is labeled with 25 code characteristic tags. The evaluation performed on six state-of-the-art ICC resolution tools shows that 1) the completeness of static ICC resolution results on real-world apps is not satisfactory, as up to 38%-85% ICCs are missed by tools; 2) many wrongly reported ICCs are sent from or received by only a few components and the graph structure information can help the identification; 3) the efficiency of fundamental tools, like ICC resolution ones, should be optimized in both engineering and research aspects. By investigating both the missed and wrongly reported ICCs, we discuss the strengths of different tools for users and summarize eight common FN/FP patterns in ICC resolution for tool developers.

cs.SE↗