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Yuming Feng

Publications and source records attributed to Yuming Feng.

23 records · Page 2Linked to original sources

Defining and Detecting the Defects of the Large Language Model-based Autonomous Agents

AI agents are systems capable of perceiving their environment, autonomously planning and executing tasks. Recent advancements in LLM have introduced a transformative paradigm for AI agents, enabling them to interact with external resources and tools through prompts. In such agents, the workflow integrates developer-written code, which manages framework construction and logic control, with LLM-generated natural language that enhances dynamic decision-making and interaction. However, discrepancies between developer-implemented logic and the dynamically generated content of LLMs in terms of behavior and expected outcomes can lead to defects, such as tool invocation failures and task execution errors. These issues introduce specific risks, leading to various defects in LLM-based AI Agents, such as service interruptions. Despite the importance of these issues, there is a lack of systematic work that focuses on analyzing LLM-based AI Agents to uncover defects in their code. In this paper, we present the first study focused on identifying and detecting defects in LLM Agents. We collected and analyzed 6,854 relevant posts from StackOverflow to define 8 types of agent defects. For each type, we provided detailed descriptions with an example. Then, we designed a static analysis tool, named Agentable, to detect the defects. Agentable leverages Code Property Graphs and LLMs to analyze Agent workflows by efficiently identifying specific code patterns and analyzing natural language descriptions. To evaluate Agentable, we constructed two datasets: AgentSet, consists of 84 real-world Agents, and AgentTest, which contains 78 Agents specifically designed to include various types of defects. Our results show that Agentable achieved an overall accuracy of 88.79% and a recall rate of 91.03%. Furthermore, our analysis reveals the 889 defects of the AgentSet, highlighting the prevalence of these defects.

cs.SE↗

MotionWavelet: Human Motion Prediction via Wavelet Manifold Learning

Modeling temporal characteristics and the non-stationary dynamics of body movement plays a significant role in predicting human future motions. However, it is challenging to capture these features due to the subtle transitions involved in the complex human motions. This paper introduces MotionWavelet, a human motion prediction framework that utilizes Wavelet Transformation and studies human motion patterns in the spatial-frequency domain. In MotionWavelet, a Wavelet Diffusion Model (WDM) learns a Wavelet Manifold by applying Wavelet Transformation on the motion data therefore encoding the intricate spatial and temporal motion patterns. Once the Wavelet Manifold is built, WDM trains a diffusion model to generate human motions from Wavelet latent vectors. In addition to the WDM, MotionWavelet also presents a Wavelet Space Shaping Guidance mechanism to refine the denoising process to improve conformity with the manifold structure. WDM also develops Temporal Attention-Based Guidance to enhance prediction accuracy. Extensive experiments validate the effectiveness of MotionWavelet, demonstrating improved prediction accuracy and enhanced generalization across various benchmarks. Our code and models will be released upon acceptance.

cs.CV↗

Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it can also be beneficial for low-cost mobile robots that are not equipped with a manipulator. This work tackles the general problem of controlling a team of mobile robots to push collaboratively polytopic objects within complex obstacle-cluttered environments. It incorporates several characteristic challenges for contact-rich tasks such as the hybrid switching among different contact modes and under-actuation due to constrained contact forces. The proposed method is based on hybrid optimization over a sequence of possible modes and the associated pushing forces, where (i) a set of sufficient modes is generated with a multi-directional feasibility estimation, based on quasi-static analyses for general objects and any number of robots; (ii) a hierarchical hybrid search algorithm is designed to iteratively decompose the navigation path via arc segments and select the optimal parameterized mode; and (iii) a nonlinear model predictive controller is proposed to track the desired pushing velocities adaptively online for each robot. The proposed framework is complete under mild assumptions. Its efficiency and effectiveness are validated in high-fidelity simulations and hardware experiments. Robustness to motion and actuation uncertainties is also demonstrated.

cs.RO↗

A non commutative generalization BL-rings

The purpose of this work is to extend the study of the commutative rings whose lattice of ideals can be a structure of BL-algebra as carry out by Heubo et al in 2018, to non commutative rings appointed in the work as pseudo BL-rings. We study and characterize rings whose ideals form a pseudo BL-algebra, we describe them in terms of their subdirectly irreductible factors. We obtain that these are (up to isomorphism) to a subring of a direct sums of unitary special primary rings and discrete valuation ring.

math.RA↗