arXiv subjects

Zhixiang Cao

Publications and source records attributed to Zhixiang Cao.

4 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↗

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↗

arXiv2023

APICom: Automatic API Completion via Prompt Learning and Adversarial Training-based Data Augmentation

Based on developer needs and usage scenarios, API (Application Programming Interface) recommendation is the process of assisting developers in finding the required API among numerous candidate APIs. Previous studies mainly modeled API recommendation as the recommendation task, which can recommend multiple candidate APIs for the given query, and developers may not yet be able to find what they need. Motivated by the neural machine translation research domain, we can model this problem as the generation task, which aims to directly generate the required API for the developer query. After our preliminary investigation, we find the performance of this intuitive approach is not promising. The reason is that there exists an error when generating the prefixes of the API. However, developers may know certain API prefix information during actual development in most cases. Therefore, we model this problem as the automatic completion task and propose a novel approach APICom based on prompt learning, which can generate API related to the query according to the prompts (i.e., API prefix information). Moreover, the effectiveness of APICom highly depends on the quality of the training dataset. In this study, we further design a novel gradient-based adversarial training method {\atpart} for data augmentation, which can improve the normalized stability when generating adversarial examples. To evaluate the effectiveness of APICom, we consider a corpus of 33k developer queries and corresponding APIs. Compared with the state-of-the-art baselines, our experimental results show that APICom can outperform all baselines by at least 40.02\%, 13.20\%, and 16.31\% in terms of the performance measures EM@1, MRR, and MAP. Finally, our ablation studies confirm the effectiveness of our component setting (such as our designed adversarial training method, our used pre-trained model, and prompt learning) in APICom.

cs.SE↗