arXiv subjects

Xi Zheng

Publications and source records attributed to Xi Zheng.

At least 37 records · Page 2Linked to original sources

arXiv2025

Regression Testing Optimization for ROS-based Autonomous Systems: A Comprehensive Review of Techniques

Regression testing plays a critical role in maintaining software reliability, particularly for ROS-based autonomous systems (ROSAS), which frequently undergo continuous integration and iterative development. However, conventional regression testing techniques face significant challenges when applied to autonomous systems due to their dynamic and non-deterministic behaviors, complex multi-modal sensor data, asynchronous distributed architectures, and stringent safety and real-time constraints. Although numerous studies have explored test optimization in traditional software contexts, regression testing optimization specifically for ROSAS remains largely unexplored. To address this gap, we present the first comprehensive survey systematically reviewing regression testing optimization techniques tailored for ROSAS. We analyze and categorize 122 representative studies into regression test case prioritization, minimization, and selection methods. A structured taxonomy is introduced to clearly illustrate their applicability and limitations within ROSAS contexts. Furthermore, we highlight major challenges specific to regression testing for ROSAS, including effectively prioritizing tests in response to frequent system modifications, efficiently minimizing redundant tests, and difficulty in accurately selecting impacted test cases. Finally, we propose research insights and identify promising future directions, such as leveraging frame-to-vector coverage metrics, multi-source foundation models, and neurosymbolic reasoning to enhance regression testing efficiency and effectiveness. This survey provides a foundational reference and practical roadmap for advancing the state-of-the-art in regression testing optimization for ROSAS.

cs.SE↗

arXiv2025

A Step-by-Step Guide to Creating a Robust Autonomous Drone Testing Pipeline

Autonomous drones are rapidly reshaping industries ranging from aerial delivery and infrastructure inspection to environmental monitoring and disaster response. Ensuring the safety, reliability, and efficiency of these systems is paramount as they transition from research prototypes to mission-critical platforms. This paper presents a step-by-step guide to establishing a robust autonomous drone testing pipeline, covering each critical stage: Software-in-the-Loop (SIL) Simulation Testing, Hardware-in-the-Loop (HIL) Testing, Controlled Real-World Testing, and In-Field Testing. Using practical examples, including the marker-based autonomous landing system, we demonstrate how to systematically verify drone system behaviors, identify integration issues, and optimize performance. Furthermore, we highlight emerging trends shaping the future of drone testing, including the integration of Neurosymbolic and LLMs, creating co-simulation environments, and Digital Twin-enabled simulation-based testing techniques. By following this pipeline, developers and researchers can achieve comprehensive validation, minimize deployment risks, and prepare autonomous drones for safe and reliable real-world operations.

cs.SE↗

arXiv2025

NeuroStrata: Harnessing Neurosymbolic Paradigms for Improved Design, Testability, and Verifiability of Autonomous CPS

Autonomous cyber-physical systems (CPSs) leverage AI for perception, planning, and control but face trust and safety certification challenges due to inherent uncertainties. The neurosymbolic paradigm replaces stochastic layers with interpretable symbolic AI, enabling determinism. While promising, challenges like multisensor fusion, adaptability, and verification remain. This paper introduces NeuroStrata, a neurosymbolic framework to enhance the testing and verification of autonomous CPS. We outline its key components, present early results, and detail future plans.

cs.SE↗

arXiv2025

Towards Robust Autonomous Landing Systems: Iterative Solutions and Key Lessons Learned

Uncrewed Aerial Vehicles (UAVs) have become a focal point of research, with both established companies and startups investing heavily in their development. This paper presents our iterative process in developing a robust autonomous marker-based landing system, highlighting the key challenges encountered and the solutions implemented. It reviews existing systems for autonomous landing processes, and through this aims to contribute to the community by sharing insights and challenges faced during development and testing.

cs.RO↗

arXiv2025

TARGET: Automated Scenario Generation from Traffic Rules for Testing Autonomous Vehicles via Validated LLM-Guided Knowledge Extraction

Recent incidents with autonomous vehicles highlight the need for rigorous testing to ensure safety and robustness. Constructing test scenarios for autonomous driving systems (ADSs), however, is labor-intensive. We propose TARGET, an end-to-end framework that automatically generates test scenarios from traffic rules. To address complexity, we leverage a Large Language Model (LLM) to extract knowledge from traffic rules. To mitigate hallucinations caused by large context during input processing, we introduce a domain-specific language (DSL) designed to be syntactically simple and compositional. This design allows the LLM to learn and generate test scenarios in a modular manner while enabling syntactic and semantic validation for each component. Based on these validated representations, TARGET synthesizes executable scripts to render scenarios in simulation. Evaluated seven ADSs with 284 scenarios derived from 54 traffic rules, TARGET uncovered 610 rule violations, collisions, and other issues. For each violation, TARGET generates scenario recordings and detailed logs, aiding root cause analysis. Two identified issues were confirmed by ADS developers: one linked to an existing bug report and the other to limited ADS functionality.

cs.SE↗

arXiv2025

Distributed Retrieval-Augmented Generation

As large language models (LLMs) become increasingly adopted on edge devices, Retrieval-Augmented Generation (RAG) is gaining prominence as a solution to address factual deficiencies and hallucinations by integrating external knowledge. However, centralized RAG architectures face significant challenges in data privacy and scalability. For instance, smart healthcare services often rely on collecting sensitive patient data and building a centralized knowledge base to provide better diagnosis and treatment advice, while privacy concerns significantly impede this process. Besides, maintaining a comprehensive and continuously updated knowledge base is costly, particularly in response to regional epidemics and rapidly mutating viruses. To address these challenges, this paper introduces Distributed Retrieval-Augmented Generation (DRAG), a novel framework that improves data privacy by eliminating the need for a centralized knowledge base and restoring data control to owners. DRAG incorporates a Topic-Aware Random Walk (TARW) algorithm that leverages LLMs to extract query topics and facilitate targeted peer discovery within a peer-to-peer network, enabling efficient knowledge retrieval in decentralized environments. Extensive experiments across three diverse datasets and LLMs demonstrate that DRAG with TARW achieves near-centralized RAG performance by using half as many messages as flooding. The code is available at https://github.com/xuchenhao001/DRAG.

cs.DC↗

arXiv2025

Unlocking User-oriented Pages: Intention-driven Black-box Scanner for Real-world Web Applications

Black-box scanners have played a significant role in detecting vulnerabilities for web applications. A key focus in current black-box scanning is increasing test coverage (i.e., accessing more web pages). However, since many web applications are user-oriented, some deep pages can only be accessed through complex user interactions, which are difficult to reach by existing black-box scanners. To fill this gap, a key insight is that web pages contain a wealth of semantic information that can aid in understanding potential user intention. Based on this insight, we propose Hoyen, a black-box scanner that uses the Large Language Model to predict user intention and provide guidance for expanding the scanning scope. Hoyen has been rigorously evaluated on 12 popular open-source web applications and compared with 6 representative tools. The results demonstrate that Hoyen performs a comprehensive exploration of web applications, expanding the attack surface while achieving about 2x than the coverage of other scanners on average, with high request accuracy. Furthermore, Hoyen detected over 90% of its requests towards the core functionality of the application, detecting more vulnerabilities than other scanners, including unique vulnerabilities in well-known web applications. Our data/code is available at https://hoyen.tjunsl.com/

cs.CR↗

arXiv2025

Grey-Box Fuzzing in Constrained Ultra-Large Systems: Lessons for SE Community

Testing ultra-large microservices-based FinTech systems presents significant challenges, including restricted access to production environments, complex dependencies, and stringent security constraints. We propose SandBoxFuzz, a scalable grey-box fuzzing technique that addresses these limitations by leveraging aspect-oriented programming and runtime reflection to enable dynamic specification mining, generating targeted inputs for constrained environments. SandBoxFuzz also introduces a log-based coverage mechanism, seamlessly integrated into the build pipeline, eliminating the need for runtime coverage agents that are often infeasible in industrial settings. SandBoxFuzz has been successfully deployed to Ant Group's production line and, compared to an initial solution built on a state-of-the-art fuzzing framework, it demonstrates superior performance in their microservices software. SandBoxFuzz achieves a 7.5% increase in branch coverage, identifies 1,850 additional exceptions, and reduces setup time from hours to minutes, highlighting its effectiveness and practical utility in a real-world industrial environment. By open-sourcing SandBoxFuzz, we provide a practical and effective tool for researchers and practitioners to test large-scale microservices systems.

cs.SE↗

arXiv2025

Customizing Emotional Support: How Do Individuals Construct and Interact With LLM-Powered Chatbots

Personalized support is essential to fulfill individuals' emotional needs and sustain their mental well-being. Large language models (LLMs), with great customization flexibility, hold promises to enable individuals to create their own emotional support agents. In this work, we developed ChatLab, where users could construct LLM-powered chatbots with additional interaction features including voices and avatars. Using a Research through Design approach, we conducted a week-long field study followed by interviews and design activities (N = 22), which uncovered how participants created diverse chatbot personas for emotional reliance, confronting stressors, connecting to intellectual discourse, reflecting mirrored selves, etc. We found that participants actively enriched the personas they constructed, shaping the dynamics between themselves and the chatbot to foster open and honest conversations. They also suggested other customizable features, such as integrating online activities and adjustable memory settings. Based on these findings, we discuss opportunities for enhancing personalized emotional support through emerging AI technologies.

cs.HC↗

arXiv2025

LGL-BCI: A Motor-Imagery-Based Brain-Computer Interface with Geometric Learning

Brain--computer interfaces are groundbreaking technology whereby brain signals are used to control external devices. Despite some advances in recent years, electroencephalogram (EEG)-based motor-imagery tasks face challenges, such as amplitude and phase variability and complex spatial correlations, with a need for smaller models and faster inference. In this study, we develop a prototype, called the Lightweight Geometric Learning Brain--Computer Interface (LGL-BCI), which uses our customized geometric deep learning architecture for swift model inference without sacrificing accuracy. LGL-BCI contains an EEG channel selection module via a feature decomposition algorithm to reduce the dimensionality of a symmetric positive definite matrix, providing adaptiveness among the continuously changing EEG signal. Meanwhile, a built-in lossless transformation helps boost the inference speed. The performance of our solution was evaluated using two real-world EEG devices and two public EEG datasets. LGL-BCI demonstrated significant improvements, achieving an accuracy of 82.54% compared to 62.22% for the state-of-the-art approach. Furthermore, LGL-BCI uses fewer parameters (64.9K vs. 183.7K), highlighting its computational efficiency. These findings underscore both the superior accuracy and computational efficiency of LGL-BCI, demonstrating the feasibility and robustness of geometric deep learning in motor-imagery brain--computer interface applications.

cs.LG↗

arXiv2025

LGL-BCI: A Motor-Imagery-Based Brain-Computer Interface with Geometric Learning

cs.HC↗

arXiv2025

MARL-OT: Multi-Agent Reinforcement Learning Guided Online Fuzzing to Detect Safety Violation in Autonomous Driving Systems

Autonomous Driving Systems (ADSs) are safety-critical, as real-world safety violations can result in significant losses. Rigorous testing is essential before deployment, with simulation testing playing a key role. However, ADSs are typically complex, consisting of multiple modules such as perception and planning, or well-trained end-to-end autonomous driving systems. Offline methods, such as the Genetic Algorithm (GA), can only generate predefined trajectories for dynamics, which struggle to cause safety violations for ADSs rapidly and efficiently in different scenarios due to their evolutionary nature. Online methods, such as single-agent reinforcement learning (RL), can quickly adjust the dynamics' trajectory online to adapt to different scenarios, but they struggle to capture complex corner cases of ADS arising from the intricate interplay among multiple vehicles. Multi-agent reinforcement learning (MARL) has a strong ability in cooperative tasks. On the other hand, it faces its own challenges, particularly with convergence. This paper introduces MARL-OT, a scalable framework that leverages MARL to detect safety violations of ADS resulting from surrounding vehicles' cooperation. MARL-OT employs MARL for high-level guidance, triggering various dangerous scenarios for the rule-based online fuzzer to explore potential safety violations of ADS, thereby generating dynamic, realistic safety violation scenarios. Our approach improves the detected safety violation rate by up to 136.2% compared to the state-of-the-art (SOTA) testing technique.

cs.SE↗

arXiv2024

GARL: Genetic Algorithm-Augmented Reinforcement Learning to Detect Violations in Marker-Based Autonomous Landing Systems

Automated Uncrewed Aerial Vehicle (UAV) landing is crucial for autonomous UAV services such as monitoring, surveying, and package delivery. It involves detecting landing targets, perceiving obstacles, planning collision-free paths, and controlling UAV movements for safe landing. Failures can lead to significant losses, necessitating rigorous simulation-based testing for safety. Traditional offline testing methods, limited to static environments and predefined trajectories, may miss violation cases caused by dynamic objects like people and animals. Conversely, online testing methods require extensive training time, which is impractical with limited budgets. To address these issues, we introduce GARL, a framework combining a genetic algorithm (GA) and reinforcement learning (RL) for efficient generation of diverse and real landing system failures within a practical budget. GARL employs GA for exploring various environment setups offline, reducing the complexity of RL's online testing in simulating challenging landing scenarios. Our approach outperforms existing methods by up to 18.35% in violation rate and 58% in diversity metric. We validate most discovered violation types with real-world UAV tests, pioneering the integration of offline and online testing strategies for autonomous systems. This method opens new research directions for online testing, with our code and supplementary material available at https://github.com/lfeng0722/drone_testing/.

cs.SE↗

arXiv2024

Probing the Robustness of Vision-Language Pretrained Models: A Multimodal Adversarial Attack Approach

Vision-language pretraining (VLP) with transformers has demonstrated exceptional performance across numerous multimodal tasks. However, the adversarial robustness of these models has not been thoroughly investigated. Existing multimodal attack methods have largely overlooked cross-modal interactions between visual and textual modalities, particularly in the context of cross-attention mechanisms. In this paper, we study the adversarial vulnerability of recent VLP transformers and design a novel Joint Multimodal Transformer Feature Attack (JMTFA) that concurrently introduces adversarial perturbations in both visual and textual modalities under white-box settings. JMTFA strategically targets attention relevance scores to disrupt important features within each modality, generating adversarial samples by fusing perturbations and leading to erroneous model predictions. Experimental results indicate that the proposed approach achieves high attack success rates on vision-language understanding and reasoning downstream tasks compared to existing baselines. Notably, our findings reveal that the textual modality significantly influences the complex fusion processes within VLP transformers. Moreover, we observe no apparent relationship between model size and adversarial robustness under our proposed attacks. These insights emphasize a new dimension of adversarial robustness and underscore potential risks in the reliable deployment of multimodal AI systems.

cs.CV↗

arXiv2024

DSHGT: Dual-Supervisors Heterogeneous Graph Transformer -- A pioneer study of using heterogeneous graph learning for detecting software vulnerabilities

Vulnerability detection is a critical problem in software security and attracts growing attention both from academia and industry. Traditionally, software security is safeguarded by designated rule-based detectors that heavily rely on empirical expertise, requiring tremendous effort from software experts to generate rule repositories for large code corpus. Recent advances in deep learning, especially Graph Neural Networks (GNN), have uncovered the feasibility of automatic detection of a wide range of software vulnerabilities. However, prior learning-based works only break programs down into a sequence of word tokens for extracting contextual features of codes, or apply GNN largely on homogeneous graph representation (e.g., AST) without discerning complex types of underlying program entities (e.g., methods, variables). In this work, we are one of the first to explore heterogeneous graph representation in the form of Code Property Graph and adapt a well-known heterogeneous graph network with a dual-supervisor structure for the corresponding graph learning task. Using the prototype built, we have conducted extensive experiments on both synthetic datasets and real-world projects. Compared with the state-of-the-art baselines, the results demonstrate promising effectiveness in this research direction in terms of vulnerability detection performance (average F1 improvements over 10\% in real-world projects) and transferability from C/C++ to other programming languages (average F1 improvements over 11%).

cs.SE↗

arXiv2024

Testing learning-enabled cyber-physical systems with Large-Language Models: A Formal Approach

The integration of machine learning (ML) into cyber-physical systems (CPS) offers significant benefits, including enhanced efficiency, predictive capabilities, real-time responsiveness, and the enabling of autonomous operations. This convergence has accelerated the development and deployment of a range of real-world applications, such as autonomous vehicles, delivery drones, service robots, and telemedicine procedures. However, the software development life cycle (SDLC) for AI-infused CPS diverges significantly from traditional approaches, featuring data and learning as two critical components. Existing verification and validation techniques are often inadequate for these new paradigms. In this study, we pinpoint the main challenges in ensuring formal safety for learningenabled CPS.We begin by examining testing as the most pragmatic method for verification and validation, summarizing the current state-of-the-art methodologies. Recognizing the limitations in current testing approaches to provide formal safety guarantees, we propose a roadmap to transition from foundational probabilistic testing to a more rigorous approach capable of delivering formal assurance.

cs.SE↗

arXiv2023

Exploring the Impacts of Land Use/Cover Change on Ecosystem Services in Multiple Scenarios --The Case of Sichuan-Chongqing Region, China

To improve the environment of the ecosystem, China has implemented the Green-forGrain Program for two decades, which has resulted in an imbalance among ecology.economy and food. This study focuses on the "ecology-food" imbalance problem.taking Sichuan-Chongqing Region as an example, to set up future scenarios topredicate the distribution of ESs. We first forecast land use/cover change in 2050under four different scenarios: Natural Development Scenarios; Arable LandConservation Scenarios; Ecological Priority Scenarios; Ecology-Arable LandHarmonization Scenarios. Then we assess changes in five ESs: habitat quality ,cropproduction, soil conservation, water yield, and carbon storage from 1990 to 2020 and2050. Finally, we reveal the spacial distribution of ESs. The following conclusions areobtained: (1) From 1990-2020, CS, SC, and HQ reveal an increasing trend with growthrates of 1.68%, 0.08%, and 0.46%: CP reveals a reduce rate of 2.75% . (2) S4 has anincrease in arable land, and CP has increased by 7.56% compared to S1, reversingthe trend of reduced CP under S1. (3) The high-high anomalies area of CP under S4 isoasically the same as that under S2, which proves that S4 is a scenario policy that canbe referred to for future development.

q-bio.PE↗

arXiv2023

Simultaneous Time Synchronization and Mutual Localization for Multi-robot System

Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it significantly influences estimation accuracy. In this paper, we introduce time synchronization into mutual localization to recover the time offset and relative poses between robots simultaneously. Under a constant velocity assumption in a short time, we fuse time offset estimation with our previous bearing-based mutual localization by a novel error representation. Based on the error model, we formulate a joint optimization problem and utilize semi-definite relaxation (SDR) to furnish a lossless relaxation. By solving the relaxed problem, time synchronization and relative pose estimation can be achieved when time drift between robots is limited. To enhance the application range of time offset estimation, we further propose an iterative method to recover the time offset from coarse to fine. Comparisons between the proposed method and the existing ones through extensive simulation tests present prominent benefits of time synchronization on mutual localization. Moreover, real-world experiments are conducted to show the practicality and robustness.

cs.RO↗