arXiv subjects

Yanzhou Mu

Publications and source records attributed to Yanzhou Mu.

11 recordsLinked to original sources

arXiv2026

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile perception is inherently limited by its sparse spatial coverage and lack of global semantic context. With the recent explosion in deep learning and large language models, integrating tactile with vision and language has become essential to bridge physical interaction with semantic reasoning, leading to the emergence of Multimodal Tactile Fusion. Despite rapid progress, the existing researches remain fragmented across disparate datasets, sensing modalities, and tasks, lacking a unified theoretical framework. To address this gap, this paper provides a comprehensive survey of multimodal tactile fusion research up to the first quarter of 2026. We propose a hierarchical taxonomy that organizes the field into two primary dimensions: multimodal datasets and multimodal methods. On the data side, we categorize resources ranging from Tactile-Vision datasets, Tactile-Language datasets, Tactile-Vision-Language datasets, and Tactile-Vision-Other datasets. On the method side, we structure prior work into three core pillars: (1) Multimodal Perception and Recognition, which focuses on object understanding and grasp prediction; (2) Cross-Modal Generation, focusing on bidirectional translation between tactile, vision, and text; and (3) Multimodal Interaction, emphasizing feedback control and language-guided manipulation. Furthermore, we summarize representative tactile sensing hardware, review commonly used evaluation metrics and benchmark settings, and discuss current challenges and promising future directions.

cs.RO↗

arXiv2026

Train in Vain: Functionality-Preserving Poisoning to Prevent Unauthorized Use of Code Datasets

The widespread availability of large-scale code datasets has accelerated the development of code large language models (CodeLLMs), raising concerns about unauthorized dataset usage. Dataset poisoning offers a proactive defense by reducing the utility of such unauthorized training. However, existing poisoning methods often require full dataset poisoning and introduce transformations that break code compilability. In this paper, we introduce FunPoison, a functionality-preserving poisoning approach that injects short, compilable weak-use fragments into executed code paths. FunPoison leverages reusable statement-level templates with automatic repair and conservative safety checking to ensure side-effect freedom, while a type-aware synthesis module suppresses static analysis warnings and enhances stealth. Extensive experiments show that FunPoison achieves effective poisoning by contaminating only 10% of the dataset, while maintaining 100% compilability and functional correctness, and remains robust against various advanced code sanitization techniques.

cs.CR↗

arXiv2026

Where Agent Frameworks Fall Short: Examining Functional Challenges and Usability Concerns

Large language model (LLM) agents are increasingly built on agent frameworks that provide reusable abstractions for workflow orchestration, state management, tool integration, and execution control. However, the quality of this infrastructure layer remains insufficiently understood, particularly its functionality challenges and usability concerns, as existing studies have mainly examined traditional deep learning (DL) frameworks or model-level agent failures. Therefore, we conduct an empirical study of 5,669 bug reports and 809 feature requests from five mainstream agent frameworks: AutoGen, CrewAI, LangChain, LangGraph, and MetaGPT. We construct a four-dimensional taxonomy covering 22 root causes, seven symptoms, 11 motivations, and six requirements, and map them to the five-stage agent lifecycle. Across the four RQs, results show an execution centered quality pattern shaped by semantic interface boundaries. Reported bugs mainly manifest as Incorrect Functionality (76.00%) and involve more API, configuration, parsing, and serialization related causes than DL framework bugs, while their associations remain sparse and stage specific. Feature requests mainly target Feature Enhancement (49.07%) and reveal structured needs for Orchestration Expressiveness, Development Delivery, Model Adaptation, and Tool Ecosystem. These findings call for quality assurance beyond crash based and tensor level testing, with emphasis on API sequences, structured LLM outputs, serialization boundaries, execution traces, and execution centered maintenance, offering empirical guidance for reliable and usable agent framework infrastructure.

cs.SE↗

arXiv2025

When Autonomous Vehicle Meets V2X Cooperative Perception: How Far Are We?

With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) cooperative perception has the potential to address limitations in sensing distant objects and occlusion for a single-agent perception system. V2X cooperative perception systems are software systems characterized by diverse sensor types and cooperative agents, varying fusion schemes, and operation under different communication conditions. Therefore, their complex composition gives rise to numerous operational challenges. Furthermore, when cooperative perception systems produce erroneous predictions, the types of errors and their underlying causes remain insufficiently explored. To bridge this gap, we take an initial step by conducting an empirical study of V2X cooperative perception. To systematically evaluate the impact of cooperative perception on the ego vehicle's perception performance, we identify and analyze six prevalent error patterns in cooperative perception systems. We further conduct a systematic evaluation of the critical components of these systems through our large-scale study and identify the following key findings: (1) The LiDAR-based cooperation configuration exhibits the highest perception performance; (2) Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication exhibit distinct cooperative perception performance under different fusion schemes; (3) Increased cooperative perception errors may result in a higher frequency of driving violations; (4) Cooperative perception systems are not robust against communication interference when running online. Our results reveal potential risks and vulnerabilities in critical components of cooperative perception systems. We hope that our findings can better promote the design and repair of cooperative perception systems.

cs.AI↗

arXiv2025

Deep Learning Framework Testing via Heuristic Guidance Based on Multiple Model Measurements

Deep learning frameworks serve as the foundation for developing and deploying deep learning applications. To enhance the quality of deep learning frameworks, researchers have proposed numerous testing methods using deep learning models as test inputs. However, existing methods predominantly measure model bug detection effectiveness as heuristic indicators, presenting three critical limitations. Firstly, existing methods fail to quantitatively measure model's operator combination variety, potentially missing critical operator combinations that could trigger framework bugs. Secondly, existing methods neglect measuring and heuristically guiding the model execution time, resulting in the omission of numerous models potential for detecting more framework bugs within limited testing time. Thirdly, existing methods overlook correlation between different model measurements, relying simply on single-indicator heuristic guidance without considering their trade-offs. To overcome these limitations, we propose DLMMM, the first deep learning framework testing method to include multiple model measurements into heuristic guidance and fuse these measurements to achieve their trade-offs. DLMMM firstly quantitatively measures model's bug detection performance, operator combination variety, and model execution time. After that, DLMMM fuses these measurements based on their correlation to achieve their trade-offs. To further enhance testing effectiveness, DLMMM designs multi-level heuristic guidance for test input model generation. We apply DLMMM to test three widely used deep learning frameworks (including TensorFlow, PyTorch, and MindSpore). The experimental results show that DLMMM outperforms state-of-the-art methods in effectiveness and efficiency.

cs.SE↗

arXiv2025

Improving Deep Learning Framework Testing with Model-Level Metamorphic Testing

Deep learning (DL) frameworks are essential to DL-based software systems, and framework bugs may lead to substantial disasters, thus requiring effective testing. Researchers adopt DL models or single interfaces as test inputs and analyze their execution results to detect bugs. However, floating-point errors, inherent randomness, and the complexity of test inputs make it challenging to analyze execution results effectively, leading to existing methods suffering from a lack of suitable test oracles. Some researchers utilize metamorphic testing to tackle this challenge. They design Metamorphic Relations (MRs) based on input data and parameter settings of a single framework interface to generate equivalent test inputs, ensuring consistent execution results between original and generated test inputs. Despite their promising effectiveness, they still face certain limitations. (1) Existing MRs overlook structural complexity, limiting test input diversity. (2) Existing MRs focus on limited interfaces, which limits generalization and necessitates additional adaptations. (3) Their detected bugs are related to the result consistency of single interfaces and far from those exposed in multi-interface combinations and runtime metrics (e.g., resource usage). To address these limitations, we propose ModelMeta, a model-level metamorphic testing method for DL frameworks with four MRs focused on the structure characteristics of DL models. ModelMeta augments seed models with diverse interface combinations to generate test inputs with consistent outputs, guided by the QR-DQN strategy. It then detects bugs through fine-grained analysis of training loss/gradients, memory/GPU usage, and execution time.

cs.SE↗

arXiv2025

DevMuT: Testing Deep Learning Framework via Developer Expertise-Based Mutation

Deep learning (DL) frameworks are the fundamental infrastructure for various DL applications. Framework defects can profoundly cause disastrous accidents, thus requiring sufficient detection. In previous studies, researchers adopt DL models as test inputs combined with mutation to generate more diverse models. Though these studies demonstrate promising results, most detected defects are considered trivial (i.e., either treated as edge cases or ignored by the developers). To identify important bugs that matter to developers, we propose a novel DL framework testing method DevMuT, which generates models by adopting mutation operators and constraints derived from developer expertise. DevMuT simulates developers'common operations in development and detects more diverse defects within more stages of the DL model lifecycle (e.g., model training and inference). We evaluate the performance of DevMuT on three widely used DL frameworks (i.e., PyTorch, JAX, and Mind- Spore) with 29 DL models from nine types of industry tasks. The experiment results show that DevMuT outperforms state-of-the-art baselines: it can achieve at least 71.68% improvement on average in the diversity of generated models and 28.20% improvement on average in the legal rates of generated models. Moreover, DevMuT detects 117 defects, 63 of which are confirmed, 24 are fixed, and eight are of high value confirmed by developers. Finally, DevMuT has been deployed in the MindSpore community since December 2023. These demonstrate the effectiveness of DevMuT in detecting defects that are close to the real scenes and are of concern to developers.

cs.SE↗

arXiv2025

Deep Learning Framework Testing via Model Mutation: How Far Are We?

Deep Learning (DL) frameworks are a fundamental component of DL development. Therefore, the detection of DL framework defects is important and challenging. As one of the most widely adopted DL testing techniques, model mutation has recently gained significant attention. In this study, we revisit the defect detection ability of existing mutation-based testing methods and investigate the factors that influence their effectiveness. To begin with, we reviewed existing methods and observed that many of them mutate DL models (e.g., changing their parameters) without any customization, ignoring the unique challenges in framework testing. Another issue with these methods is their limited effectiveness, characterized by a high rate of false positives caused by illegal mutations arising from the use of generic, non-customized mutation operators. Moreover, we tracked the defects identified by these methods and discovered that most of them were ignored by developers. Motivated by these observations, we investigate the effectiveness of existing mutation-based testing methods in detecting important defects that have been authenticated by framework developers. We begin by collecting defect reports from three popular frameworks and classifying them based on framework developers' ratings to build a comprehensive dataset. We then perform an in-depth analysis to uncover valuable insights. Based on our findings, we propose optimization strategies to address the shortcomings of existing approaches. Following these optimizations, we identified seven new defects, four of which were confirmed by developers as high-priority issues, with three resolved. In summary, we identified 39 unique defects across just 23 models, of which 31 were confirmed by developers, and eight have been fixed.

cs.SE↗

arXiv2025

Understanding LLM-Centric Challenges for Deep Learning Frameworks: An Empirical Analysis

Large language models (LLMs) have driven significant progress across a wide range of real-world applications. Realizing such models requires substantial system-level support. Deep learning (DL) frameworks provide this foundation by enabling efficient model construction, distributed execution, and optimized deployment. The large parameter scale and extended execution cycles impose exacting demands on deep learning frameworks, particularly in terms of scalability, stability, and efficiency. Therefore, poor usability, limited functionality, and subtle bugs in DL frameworks may hinder development efficiency and cause severe failures or resource waste. However, a fundamental question has not been thoroughly investigated in previous studies, i.e., what challenges do DL frameworks face in supporting LLMs? To answer this question, we analyze issue reports from three major DL frameworks (i.e., MindSpore, PyTorch, and TensorFlow) and eight associated LLM toolkits such as Megatron. Based on a manual review of these reports, we construct a taxonomy that captures LLM-centric framework bugs, user requirements, and user questions. We then refine and enrich this taxonomy through interviews with 11 LLM users and eight DL framework developers. Based on the constructed taxonomy and findings summarized from interviews, our study further reveals key technical challenges and mismatches between LLM user needs and developer priorities.

cs.SE↗

arXiv2025

Generate Realistic Test Scenes for V2X Communication Systems

Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with Vehicle-to-Everything (V2X) technologies has emerged as a solution to overcome the limitations of single-agent perception systems in perceiving distant objects and occlusions. Despite the considerable advancements, V2X cooperative perception systems require thorough testing and continuous enhancement of system performance. Given that V2X driving scenes entail intricate communications with multiple vehicles across various geographic locations, creating V2X test scenes for these systems poses a significant challenge. Moreover, current testing methodologies rely on manual data collection and labeling, which are both time-consuming and costly. In this paper, we design and implement V2XGen, an automated testing generation tool for V2X cooperative perception systems. V2XGen utilizes a high-fidelity approach to generate realistic cooperative object instances and strategically place them within the background data in crucial positions. Furthermore, V2XGen adopts a fitness-guided V2X scene generation strategy for the transformed scene generation process and improves testing efficiency. We conduct experiments on V2XGen using multiple cooperative perception systems with different fusion schemes to assess its performance on various tasks. The experimental results demonstrate that V2XGen is capable of generating realistic test scenes and effectively detecting erroneous behaviors in different V2X-oriented driving conditions. Furthermore, the results validate that retraining systems under test with the generated scenes can enhance average detection precision while reducing occlusion and long-range perception errors.

cs.SE↗

arXiv2019

Revisiting Heterogeneous Defect Prediction: How Far Are We?

Until now, researchers have proposed several novel heterogeneous defect prediction HDP methods with promising performance. To the best of our knowledge, whether HDP methods can perform significantly better than unsupervised methods has not yet been thoroughly investigated. In this article, we perform a replication study to have a holistic look in this issue. In particular, we compare state-of-the-art five HDP methods with five unsupervised methods. Final results surprisingly show that these HDP methods do not perform significantly better than some of unsupervised methods (especially the simple unsupervised methods proposed by Zhou et al.) in terms of two non-effort-aware performance measures and four effort-aware performance measures. Then, we perform diversity analysis on defective modules via McNemar's test and find the prediction diversity is more obvious when the comparison is performed between the HDP methods and the unsupervised methods than the comparisons only between the HDP methods or between the unsupervised methods. This shows the HDP methods and the unsupervised methods are complementary to each other in identifying defective models to some extent. Finally, we investigate the feasibility of five HDP methods by considering two satisfactory criteria recommended by previous CPDP studies and find the satisfactory ratio of these HDP methods is still pessimistic. The above empirical results implicate there is still a long way for heterogeneous defect prediction to go. More effective HDP methods need to be designed and the unsupervised methods should be considered as baselines.

cs.SE↗