arXiv subjects

Zan Wang

Publications and source records attributed to Zan Wang.

At least 19 recordsLinked to original sources

arXiv2026

Embodied Scene Rearrangement Planning

This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using only egocentric observations and a top-down target layout. Unlike prior rearrangement tasks, ESRP precludes global state access and introduces mutual object occlusions, reflecting the practical constraints of real-world robotic deployment. These factors make aligning partial egocentric observations with the global target layout particularly challenging for long-horizon planning. To facilitate research, we present ESRP-Bench, a comprehensive benchmark built on OmniGibson featuring over 5,400 scene pairs and 8,200 objects. We define three multi-level metrics to evaluate rearrangement quality and provide four baselines: a hierarchical task-and-motion planning method, a vision-language-model-based method, and two learning-based approaches (IL and RL). Experimental results demonstrate that current methods struggle to complete the task efficiently, highlighting ESRP as a challenging frontier for embodied agents in scene understanding and long-horizon task planning. This work serves as a stepping stone toward deploying intelligent agents in real-world scenarios. Project page: https://pie-lab.cn/ESRP/.

cs.RO↗

arXiv2026

SONG: A Photorealistic 3D Gaussian Simulation Platform for Benchmarking Social Navigation

Social navigation has progressed from simplified 2D environments toward a more general vision-based setting, in which a robot needs to achieve socially compliant behavior purely from onboard visual observations. Yet supporting simulation platforms have not kept pace: existing options either lack visual observations, lack moving human avatars, or fall short of real-world fidelity in appearance and pedestrian behavior, offering limited support for advancing vision-based social navigation. We introduce SONG, a SOcial Navigation platform powered by 3D Gaussian splatting (3DGS). It leverages 3DGS for both scene and avatar representations, drives pedestrians using semantically grounded trajectories generated by a large language model, and synthesizes their full-body motion with a trajectory-conditioned generator to produce continuous, natural movement. On top of the platform, we curate SONG-Bench, a set of evaluation episodes stratified by difficulty, and propose a multi-dimensional metric suite covering effectiveness, safety, and social compliance. A systematic evaluation of representative navigation baselines reveals three findings: (a) vision-based social navigation is far from solved; (b) a critical safety deficit precedes social etiquette; (c) real-world data matters more than model scale. Crucially, we demonstrate that fine-tuning on our curated data effectively improves the success rate in real-world environments. We hope our platform provides a faithful and rigorous testbed for the next generation of vision-based social navigation research.

cs.RO↗

arXiv2026

KernelDiag: Agent-Based Root Cause Diagnosis for Kernel Crashes

The Linux kernel is one of the most complex software systems, where automated fuzzing continuously exposes thousands of crashes, yet root-cause diagnosis remains a manual and time-consuming bottleneck. Existing LLM-based root cause analysis (RCA) techniques, effective for distributed systems, do not readily generalize to kernel debugging due to sparse low-level artifacts, heterogeneous diagnostic evidence (e.g., syscalls, logs, and crash reports), and complex non-linear fault propagation that demands fine-grained method-level reasoning. To address these challenges, we propose KernelDiag, an agent-based framework for kernel root-cause diagnosis via structured causal reasoning. KernelDiag first aligns heterogeneous diagnostic artifacts through log-to-code mapping, and then employs artifact-specialized agents to iteratively reason over source-level program semantics and crash-specific kernel configurations. The inferred causal dependencies are incrementally organized into structured Evidence Graphs, enabling accurate faulty-method localization and causal explanations. We evaluate KernelDiag on the real-world KGYM benchmark. KernelDiag consistently outperforms state-of-the-art localization approaches at both file and method levels, achieving significant improvements in Top@k accuracy, including up to 4x and 2x gains in challenging settings without explicit hints. Furthermore, both human and LLM-assisted evaluations show that KernelDiag generates accurate, coherent, and actionable diagnostic explanations. Overall, this work lays the foundation for automated kernel root-cause diagnosis by bridging low-level diagnostic evidence with source-level causal reasoning.

cs.SE↗

arXiv2026

Towards Better Linux Kernel Fault Localization: Leveraging Contrastive Reasoning and Hierarchical Context Analysis

Debugging the Linux kernel remains a formidable challenge due to its vast codebase, complex architecture, and low-level programming intricacies. Effective fault localization (FL) is thus essential for efficient kernel debugging and maintenance. While existing FL techniques (both traditional and LLM-based) have shown promise in general-purpose software, they are ill-suited for the kernel context. In particular, recent LLM-based techniques often treat bug reports and source code as plain text, lacking deep integration of kernel-specific knowledge, which limits their ability to identify root causes and achieve fine-grained localization. We present CoHiKer, a novel LLM-based FL technique tailored to the Linux kernel. CoHiKer introduces two key innovations: (1) contrastive reasoning, which identifies root causes by analyzing the behavioral divergence between carefully mutated passing and failing test cases, and (2) hierarchical context analysis, which systematically narrows the localization scope from files to methods by integrating crash reports, syscall semantics, inter-file dependencies, and kernel-specific features. Unlike prior techniques that rely on static understanding and full-code input, CoHiKer decomposes the localization task and enables structured LLM prompting to reason semantically over meaningful contexts. We evaluate CoHiKer on an extended Linux kernel bug dataset against five state-of-the-art baselines. CoHiKer consistently outperforms all competitors, improving Top-1 localization accuracy by up to 26.07% at the file level and 56.85% at the method level over state-of-the-art LLM-based baselines, while achieving up to 8.84% and 28.9% reductions in token consumption, respectively. Furthermore, CoHiKer demonstrates strong generalizability on the non-kernel dataset, with comparable gains (15.5% and 5.3% in Top-1 at file and method levels).

cs.SE↗

arXiv2026

FloVerse: Floor Plan-Guided Multi-Modal Navigation

Floor plans encapsulate compact spatial priors, enabling agents to navigate unseen scenes more efficiently. While prior work has explored floor plan-guided navigation, it has focused mainly on PointNav and a limited set of environments. To bridge this gap, we introduce FloVerse, a new task for floor plan-guided embodied navigation that unifies PointNav, ObjectNav, and ImageNav. To support FloVerse, we assemble FloVerse-1.6K, a large-scale dataset of 1.6K scenes from HM3D and Gibson 4+, paired with corresponding floor plans, comprising 240K expert trajectories and 12M RGBD frames. We further propose ThreeDiff, a two-stage imitation learning policy comprising a planner, a diffusion-based multimodal goal-reasoning module trained via masked-modality modeling, and a refiner, a depth-based trajectory-refinement module for safe execution. Extensive experiments demonstrate that (1) floor-plan priors improve navigation performance across all goal modalities, and (2) ThreeDiff implicitly captures spatial information from floor plans. These results underscore the effectiveness of spatial priors and validate our proposed unified approach for floor plan-guided embodied navigation.

cs.RO↗

arXiv2026

Characterizing and Mitigating False-Positive Bug Reports in the Linux Kernel

False-positive bug reports represent a significant yet underexplored challenge in the development and maintenance of the Linux kernel. They occur when correct system behavior is mistakenly flagged as a defect, consuming developer effort without leading to actual code improvements. Such reports can mislead developers, waste debugging resources, and delay the resolution of real bugs. In this paper, we present the first comprehensive empirical study of false-positive bug reports in the Linux kernel. We manually construct a dataset of 2,006 bug reports comprising 1,509 genuine bugs and 497 false positives collected from Bugzilla and Syzkaller. Our analysis indicates that false positives demand effort comparable to real bugs, often requiring extended discussions and non-trivial closure time. They occur in several components, especially File Systems and Drivers, mainly due to external dependencies and semantic misunderstandings. To address this challenge, we evaluate large language models (LLMs) for automated false-positive bug report mitigation. Among various prompting strategies, retrieval-augmented generation (RAG) performs best, achieving 91% recall and an F1 score of 88%. These findings highlight the non-negligible cost of false positive bug reports and show the promise of LLMs for more efficient false positive mitigation in the Linux kernel.

cs.SE↗

arXiv2026

Probing Coronal Activity Using Radio Signals Based on the 2021 superior conjunction of Mars: the Downlink Data from Tianwen-1

During the first superior conjunction of the Tianwen-1 Mars probe in October 2021, its downlink signal received by the Wuqing 70-m radio telescope passed within 4.53 solar radii of the Sun. The signal was significantly perturbed by the solar wind, providing a mechanism to probe coronal activity. We analyze the Doppler frequency scintillation spectrum of the solar wind within 10 solar radii to derive a characteristic frequency scintillation parameter. Statistical analysis indicates this parameter increases as the signal path approaches the Sun, with notable anomalies observed on October 5, 13, and 15. Comparisons with SOHO and SDO data reveal strong spatio-temporal correlations between these scintillation anomalies and coronal activity. We demonstrate that this parameter effectively identifies solar phenomena, including coronal streamers, high-speed solar wind, and coronal mass ejections (CMEs). Quantitative analysis confirms a distinct temporal correlation and delay between frequency scintillation and solar wind speed changes, validating the feasibility of spatially localizing solar activity.

astro-ph.SR↗

arXiv2025

A Comprehensive Study of Deep Learning Model Fixing Approaches

Deep Learning (DL) has been widely adopted in diverse industrial domains, including autonomous driving, intelligent healthcare, and aided programming. Like traditional software, DL systems are also prone to faults, whose malfunctioning may expose users to significant risks. Consequently, numerous approaches have been proposed to address these issues. In this paper, we conduct a large-scale empirical study on 16 state-of-the-art DL model fixing approaches, spanning model-level, layer-level, and neuron-level categories, to comprehensively evaluate their performance. We assess not only their fixing effectiveness (their primary purpose) but also their impact on other critical properties, such as robustness, fairness, and backward compatibility. To ensure comprehensive and fair evaluation, we employ a diverse set of datasets, model architectures, and application domains within a uniform experimental setup for experimentation. We summarize several key findings with implications for both industry and academia. For example, model-level approaches demonstrate superior fixing effectiveness compared to others. No single approach can achieve the best fixing performance while improving accuracy and maintaining all other properties. Thus, academia should prioritize research on mitigating these side effects. These insights highlight promising directions for future exploration in this field.

cs.LG↗

arXiv2025

Human Motion Estimation with Everyday Wearables

While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and cumbersome calibration, which hinder their adoption in daily life. To address these challenges, we present EveryWear, a lightweight and practical human motion capture approach based entirely on everyday wearables: a smartphone, smartwatch, earbuds, and smart glasses equipped with one forward-facing and two downward-facing cameras, requiring no explicit calibration before use. We introduce Ego-Elec, a 9-hour real-world dataset covering 56 daily activities across 17 diverse indoor and outdoor environments, with ground-truth 3D annotations provided by the motion capture (MoCap), to facilitate robust research and benchmarking in this direction. Our approach employs a multimodal teacher-student framework that integrates visual cues from egocentric cameras with inertial signals from consumer devices. By training directly on real-world data rather than synthetic data, our model effectively eliminates the sim-to-real gap that constrains prior work. Experiments demonstrate that our method outperforms baseline models, validating its effectiveness for practical full-body motion estimation.

cs.CV↗

arXiv2025

Optimization-Aware Test Generation for Deep Learning Compilers

Deep Learning (DL) compilers have been widely utilized to optimize DL models for efficient deployment across various hardware. Due to their vital role in the DL ecosystem, ensuring their reliability and security is critical. However, existing approaches have limitations in testing optimization stages, which is the core functionality of DL compilers, due to the difficulty in generating optimization-aware tests. In this paper, we proposed OATest, a novel approach for synthesizing optimization-aware computational graphs. The approach combines patterns extracted from documented tests for optimization and incorporates them into seed computational graphs, enabling broader exploration of optimization paths. To guarantee the optimization-awareness of generated graphs, OATest introduces the edges reusing strategy to establish strong connections between patterns and contexts. Additionally, to solve the validity challenge for the generated graphs, OATest employs an auxiliary layers addition strategy to resolve broken constraints. Equipped with two distinct test oracles, OATest applies differential testing to evaluate the two widely used DL compilers (i.e., TVM and ONNXRuntime). Our experimental results show that OATest outperforms the state-of-the-art method by detecting more bugs and achieving higher code coverage in TVM and ONNXRutimes. Additionally, OATest uncovers 58 previously unknown bugs, 36 of which have been confirmed or fixed by developers.

cs.SE↗

arXiv2025

Testing Question Answering Software with Context-Driven Question Generation

Question-answering software is becoming increasingly integrated into our daily lives, with prominent examples including Apple Siri and Amazon Alexa. Ensuring the quality of such systems is critical, as incorrect answers could lead to significant harm. Current state-of-the-art testing approaches apply metamorphic relations to existing test datasets, generating test questions based on these relations. However, these methods have two key limitations. First, they often produce unnatural questions that humans are unlikely to ask, reducing the effectiveness of the generated questions in identifying bugs that might occur in real-world scenarios. Second, these questions are generated from pre-existing test datasets, ignoring the broader context and thus limiting the diversity and relevance of the generated questions. In this work, we introduce CQ^2A, a context-driven question generation approach for testing question-answering systems. Specifically, CQ^2A extracts entities and relationships from the context to form ground truth answers, and utilizes large language models to generate questions based on these ground truth answers and the surrounding context. We also propose the consistency verification and constraint checking to increase the reliability of LLM's outputs. Experiments conducted on three datasets demonstrate that CQ^2A outperforms state-of-the-art approaches on the bug detection capability, the naturalness of the generated questions as well as the coverage of the context. Moreover, the test cases generated by CQ^2A reduce error rate when utilized for fine-tuning the QA software under test

cs.SE↗

arXiv2025

Floor Plan-Guided Visual Navigation Incorporating Depth and Directional Cues

Current visual navigation strategies mainly follow an exploration-first and then goal-directed navigation paradigm. This exploratory phase inevitably compromises the overall efficiency of navigation. Recent studies propose leveraging floor plans alongside RGB inputs to guide agents, aiming for rapid navigation without prior exploration or mapping. Key issues persist despite early successes. The modal gap and content misalignment between floor plans and RGB images necessitate an efficient approach to extract the most salient and complementary features from both for reliable navigation. Here, we propose GlocDiff, a novel framework that employs a diffusion-based policy to continuously predict future waypoints. This policy is conditioned on two complementary information streams: (1) local depth cues derived from the current RGB observation, and (2) global directional guidance extracted from the floor plan. The former handles immediate navigation safety by capturing surrounding geometry, while the latter ensures goal-directed efficiency by offering definitive directional cues. Extensive evaluations on the FloNa benchmark demonstrate that GlocDiff achieves superior efficiency and effectiveness. Furthermore, its successful deployment in real-world scenarios underscores its strong potential for broad practical application.

cs.RO↗

arXiv2025

Issue-Oriented Agent-Based Framework for Automated Review Comment Generation

Code review (CR) is a crucial practice for ensuring software quality. Various automated review comment generation techniques have been proposed to streamline the labor-intensive process. However, existing approaches heavily rely on a single model to identify various issues within the code, limiting the model's ability to handle the diverse, issue-specific nature of code changes and leading to non-informative comments, especially in complex scenarios such as bug fixes. To address these limitations, we propose RevAgent, a novel agent-based issue-oriented framework, decomposes the task into three stages: (1) Generation Stage, where five category-specific commentator agents analyze code changes from distinct issue perspectives and generate candidate comments; (2) Discrimination Stage, where a critic agent selects the most appropriate issue-comment pair; and (3) Training Stage, where all agents are fine-tuned on curated, category-specific data to enhance task specialization. Evaluation results show that RevAgent significantly outperforms state-of-the-art PLM- and LLM-based baselines, with improvements of 12.90\%, 10.87\%, 6.32\%, and 8.57\% on BLEU, ROUGE-L, METEOR, and SBERT, respectively. It also achieves relatively higher accuracy in issue-category identification, particularly for challenging scenarios. Human evaluations further validate the practicality of RevAgent in generating accurate, readable, and context-aware review comments. Moreover, RevAgent delivers a favorable trade-off between performance and efficiency.

cs.SE↗

arXiv2025

Optimizing Knowledge Utilization for Multi-Intent Comment Generation with Large Language Models

Code comment generation aims to produce a generic overview of a code snippet, helping developers understand and maintain code. However, generic summaries alone are insufficient to meet the diverse needs of practitioners; for example, developers expect the implementation insights to be presented in an untangled manner, while users seek clear usage instructions. This highlights the necessity of multi-intent comment generation. With the widespread adoption of Large Language Models (LLMs) for code-related tasks, these models have been leveraged to tackle the challenge of multi-intent comment generation. Despite their successes, state-of-the-art LLM-based approaches often struggle to construct correct relationships among intents, code, and comments within a smaller number of demonstration examples. To mitigate this issue, we propose a framework named KUMIC for multi-intent comment generation. Built upon in-context learning, KUMIC leverages Chain-of-Thought (CoT) to optimize knowledge utilization for LLMs to generate intent-specific comments. Specifically, KUMIC first designs a retrieval mechanism to obtain similar demonstration examples, which exhibit high code-comment consistency. Then, KUMIC leverages CoT to guide LLMs to focus on statements facilitating the derivation of code comments aligned with specific intents. In this context, KUMIC constructs a mapping knowledge chain, linking code to intent-specific statements to comments, which enables LLMs to follow similar reasoning steps when generating the desired comments. We conduct extensive experiments to evaluate KUMIC, and the results demonstrate that KUMIC outperforms state-of-the-art baselines by 14.49\%, 22.41\%, 20.72\%, and 12.94\% in terms of BLEU, METEOR, ROUGE-L, and SBERT, respectively.

cs.SE↗

arXiv2025

DogMo: A Large-Scale Multi-View RGB-D Dataset for 4D Canine Motion Recovery

We present DogMo, a large-scale multi-view RGB-D video dataset capturing diverse canine movements for the task of motion recovery from images. DogMo comprises 1.2k motion sequences collected from 10 unique dogs, offering rich variation in both motion and breed. It addresses key limitations of existing dog motion datasets, including the lack of multi-view and real 3D data, as well as limited scale and diversity. Leveraging DogMo, we establish four motion recovery benchmark settings that support systematic evaluation across monocular and multi-view, RGB and RGB-D inputs. To facilitate accurate motion recovery, we further introduce a three-stage, instance-specific optimization pipeline that fits the SMAL model to the motion sequences. Our method progressively refines body shape and pose through coarse alignment, dense correspondence supervision, and temporal regularization. Our dataset and method provide a principled foundation for advancing research in dog motion recovery and open up new directions at the intersection of computer vision, computer graphics, and animal behavior modeling.

cs.CV↗

arXiv2025

Spatial-Temporal Multi-Scale Quantization for Flexible Motion Generation

Despite significant advancements in human motion generation, current motion representations, typically formulated as discrete frame sequences, still face two critical limitations: (i) they fail to capture motion from a multi-scale perspective, limiting the capability in complex patterns modeling; (ii) they lack compositional flexibility, which is crucial for model's generalization in diverse generation tasks. To address these challenges, we introduce MSQ, a novel quantization method that compresses the motion sequence into multi-scale discrete tokens across spatial and temporal dimensions. MSQ employs distinct encoders to capture body parts at varying spatial granularities and temporally interpolates the encoded features into multiple scales before quantizing them into discrete tokens. Building on this representation, we establish a generative mask modeling model to effectively support motion editing, motion control, and conditional motion generation. Through quantitative and qualitative analysis, we show that our quantization method enables the seamless composition of motion tokens without requiring specialized design or re-training. Furthermore, extensive evaluations demonstrate that our approach outperforms existing baseline methods on various benchmarks.

cs.CV↗

arXiv2025

A Survey of Reinforcement Learning for Software Engineering

Reinforcement Learning (RL) has emerged as a powerful paradigm for sequential decision-making and has attracted growing interest across various domains, particularly following the advent of Deep Reinforcement Learning (DRL) in 2015. Simultaneously, the rapid advancement of Large Language Models (LLMs) has further fueled interest in integrating RL with LLMs to enable more adaptive and intelligent systems. In the field of software engineering (SE), the increasing complexity of systems and the rising demand for automation have motivated researchers to apply RL to a broad range of tasks, from software design and development to quality assurance and maintenance. Despite growing research in RL-for-SE, there remains a lack of a comprehensive and systematic survey of this evolving field. To address this gap, we reviewed 115 peer-reviewed studies published across 22 premier SE venues since the introduction of DRL. We conducted a comprehensive analysis of publication trends, categorized SE topics and RL algorithms, and examined key factors such as dataset usage, model design and optimization, and evaluation practices. Furthermore, we identified open challenges and proposed future research directions to guide and inspire ongoing work in this evolving area. To summarize, this survey offers the first systematic mapping of RL applications in software engineering, aiming to support both researchers and practitioners in navigating the current landscape and advancing the field. Our artifacts are publicly available: https://github.com/KaiWei-Lin-lanina/RL4SE.

cs.SE↗

arXiv2025

InteractAnything: Zero-shot Human Object Interaction Synthesis via LLM Feedback and Object Affordance Parsing

Recent advances in 3D human-aware generation have made significant progress. However, existing methods still struggle with generating novel Human Object Interaction (HOI) from text, particularly for open-set objects. We identify three main challenges of this task: precise human-object relation reasoning, affordance parsing for any object, and detailed human interaction pose synthesis aligning description and object geometry. In this work, we propose a novel zero-shot 3D HOI generation framework without training on specific datasets, leveraging the knowledge from large-scale pre-trained models. Specifically, the human-object relations are inferred from large language models (LLMs) to initialize object properties and guide the optimization process. Then we utilize a pre-trained 2D image diffusion model to parse unseen objects and extract contact points, avoiding the limitations imposed by existing 3D asset knowledge. The initial human pose is generated by sampling multiple hypotheses through multi-view SDS based on the input text and object geometry. Finally, we introduce a detailed optimization to generate fine-grained, precise, and natural interaction, enforcing realistic 3D contact between the 3D object and the involved body parts, including hands in grasping. This is achieved by distilling human-level feedback from LLMs to capture detailed human-object relations from the text instruction. Extensive experiments validate the effectiveness of our approach compared to prior works, particularly in terms of the fine-grained nature of interactions and the ability to handle open-set 3D objects.

cs.CV↗