arXiv subjects

Yiteng Peng

Publications and source records attributed to Yiteng Peng.

3 recordsLinked to original sources

arXiv2026

MetaSpace: Metamorphic Testing for Spatial Cognition in Embodied Agents

An embodied agent is an intelligent entity that interacts with its environment through a physical body. Currently, the evaluation of embodied agents primarily relies on two paradigms: (1) manually annotated Visual Question Answering (VQA) pairs and (2) high-level task completion metrics, such as success in navigation or manipulation. The former is labor-intensive and subject to variability in annotation quality. The latter may obscure critical vulnerabilities, allowing agents to complete tasks through suboptimal means or safety violations, thereby concealing safety risks and inefficiencies. Given that spatial cognition is the cornerstone for executing embodied tasks, there is a pressing need to assess whether embodied agents possess robust spatial cognition during task execution. Inspired by metamorphic testing principles in software engineering, we propose MetaSpace, a novel framework designed to evaluate the spatial cognition of agents. By leveraging spatiotemporal multimodal states derived from real execution trajectories, MetaSpace automatically generates test cases based on predefined metamorphic relations (MRs) grounded in logical rules and physical laws. Crucially, we encode these MRs as executable rules in a logic programming language (Prolog). Violations of these relations indicate failures in spatial cognition. Our empirical evaluation across three embodied scenarios demonstrates that MetaSpace successfully detects 90,422 spatial cognition errors in state-of-the-art (SOTA) MLLM-driven agents. We introduce the Spatial Cognition (SC) score to quantify performance. Results indicate that all SOTA agents achieve average scores between 0.44 and 0.52, significantly lower than the human benchmark of 0.96.

cs.AI↗

arXiv2026

Programming-by-Example for Batch-Editing Collision Meshes in 3D Software

As 3D software proliferates, software artifacts now extend beyond code and 2D user interfaces to include 3D assets. Among these assets, collision meshes are critical as they define the geometry used by physics engines for collision detection and physical interaction. Although existing tools can automatically generate collision meshes from visual meshes, they often fail to capture the intended interaction behavior. As a result, developers need to manually edit many heterogeneous collision meshes, a process that is time-consuming and challenging to scale. To address this problem, we present a neuro-symbolic program synthesis approach for batch-editing collision meshes. We formulate the task as a programming-by-example problem: given a family of collision meshes with the same editing intent and a small number of user demonstrations, our approach synthesizes a reusable program that captures the editing intent and applies it to non-demonstration meshes. We implement this in a tool named MeshForge, and evaluate it across 24 tasks on 600 collision meshes. MeshForge successfully synthesizes 23/24 tasks, requiring 2.2 demonstrations and 3.5 seconds of synthesis time on average.

cs.GR↗

arXiv2026

Detecting and Understanding Vulnerabilities in Fully Homomorphic Encryption Frameworks

Fully homomorphic encryption (FHE) allows computations to be performed directly on encrypted data without decryption, offering strong privacy guarantees for sensitive data analysis. This capability is important for privacy-sensitive applications like secure cloud computing, finance, and healthcare. The complexity of FHE schemes, however, has hindered their practical adoption. To make FHE accessible to a broader range of developers, a new generation of specialized frameworks has emerged to translate high-level FHE programs into complex FHE operations, introducing a new programming paradigm. However, the inherent complexity of FHE frameworks makes them prone to incorrect implementation logic. Unlike mere crashes, logic bugs in these frameworks can silently corrupt encrypted computation, potentially leading to severe financial losses and security vulnerabilities in FHE-enhanced applications. In this work, we introduce HERTA, the first automated testing tool tailored for FHE frameworks. HERTA leverages metamorphic testing to uncover deep-seated implementation bugs and vulnerabilities across the multi-layered FHE software stack. To that end, we design a set of novel metamorphic relations (MRs) derived specifically from FHE semantics. These MRs stress the most challenging aspects of the pipeline, enabling automated correctness testing without the need for a manual ground truth. Our evaluation of HERTA on 3 leading industry frameworks discovered 21 previously unknown bugs, several of which have already been confirmed and fixed by developers. Furthermore, our hazard analysis reveals the critical security impact these bugs pose to the integrity and availability of FHE-based services.

cs.CR↗