arXiv subjects

Ziyue Zheng

Publications and source records attributed to Ziyue Zheng.

6 recordsLinked to original sources

arXiv2026

Ergodic Trajectory Planning with Dynamic Sensor Footprints

This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled framework that balances exploration (visiting all areas) and exploitation (focusing on high-information regions) by planning trajectories such that the time spent in a region is proportional to the amount of information in that region. Existing ergodic planning often oversimplifies the sensing model by assuming a point sensor or a footprint with constant shape and resolution. In practice, the sensor footprint can drastically change over time as the robot moves, such as aerial robots equipped with downward-facing cameras, whose field of view depends on the orientation and altitude. To overcome this limitation, we propose a new metric that accounts for dynamic sensor footprints, analyze the theoretic local optimality conditions, and propose numerical trajectory optimization algorithms. Experimental results show that the proposed approach can simultaneously optimize both the trajectories and sensor footprints, with up to an order of magnitude better ergodicity than conventional methods. We also deploy our approach in a multi-drone system to ergodically cover an object in 3D space.

cs.RO↗

arXiv2026

Coverage-Driven RTL Assertion Generation with Formal Exploration and Neuro-Symbolic Refinement

Hardware functional verification relies on high-quality assertions to expose design bugs and establish confidence in Register Transfer Level (RTL) designs. Yet existing assertion mining methods still struggle to produce complete and reliable assertion sets: random or limited traces fail to cover hard-to-reach behaviors, and one-shot generation provides little feedback about what remains unverified or how the assertion set should be improved. As a result, critical design behaviors can remain uncovered even when many assertions are generated. We present NeuroAssertion, a coverage-driven assertion generation framework that combines formal trace generation, syntax-guided synthesis (SyGuS), and an agent-inspired refinement process within a unified framework. Our framework first converts hard-to-reach control-flow conditions into formal reachability objectives, uses model checking to generate behaviorally diverse traces, and mines initial assertions from these traces with SyGuS. It then performs targeted agent-inspired refinement under verification feedback: one LLM first proposes candidate assertions for uncovered regions, and if a candidate fails formal checking, a second LLM generates a repair grammar that guides constrained symbolic synthesis in a neuro-symbolic repair procedure. Experimental results show that this framework delivers around 2X more assertions and about 2X higher mutation coverage than traditional assertion mining methods.

cs.AR↗

arXiv2026

NeuroAbs: A Neuro-Symbolic RTL Abstraction Framework for Property Checking Acceleration

Formal verification is a crucial technique for ensuring the functional correctness of hardware designs. In the context of property checking, a key challenge is how to efficiently prove a user-specified property in the face of increasingly complex RTL designs. To address this challenge, abstraction techniques are often employed to reduce system complexity and accelerate the verification process. However, prior RTL abstraction methods either require significant manual effort or rely on rule-based techniques that lack flexibility. This paper introduces NeuroAbs, a neuro-symbolic framework for RTL abstraction. NeuroAbs first uses LLM-assisted RTL analysis to identify signals suitable for abstraction. It then combines LLM-based abstraction with an AST-based symbolic RTL representation to better align the generated abstraction with the intended transformation. The soundness of each abstraction is checked using satisfiability modulo theories (SMT) solving. If the abstraction is too coarse for a successful proof, NeuroAbs applies counterexample-guided abstraction refinement (CEGAR) to iteratively refine the model. Experimental results show that NeuroAbs significantly improves the efficiency of hardware property checking across a range of verification tasks.

cs.AR↗

arXiv2026

TRACE: Ergodic Trajectory Optimization for Active Scene Reconstruction

Existing active reconstruction systems with Gaussian-splatting maps select observations greedily, optimizing a single next-best-view (NBV) at each step and connecting the chosen views by short-horizon path planning. This greedy decoupling disregards the global structure of scene information, producing inefficient trajectories that waste sensing capacity in transit between selected views. In this work, we study active reconstruction as an ergodic coverage problem: the time-averaged spatial statistics of the sensor trajectory should match a target information distribution induced by the current map. Our approach derives this target distribution online from uncertainty and visibility, and calculates ergodic trajectories via a kernel-ergodic horizon planner with gradient flow and footprint depletion, closing the loop between mapping and trajectory optimization. We thoroughly evaluate TRACE on the Replica dataset against the Next-Best-View (NBV) baselines, improving PSNR by 1.5 dB. Code: https://github.com/spikelab-jhu/trace-active-reconstruction.

cs.RO↗

arXiv2026

Forbench: Symbolic Simulation Helps Make Your Testbench More Formal

Simulation remains the dominant approach in pre-silicon verification due to its ease of deployment and intuitive workflow. However, as simulation only explores a limited subset of possible execution traces within feasible time budgets, it often fails to explore rare corner cases, leaving latent bugs undetected. In contrast, formal verification offers mathematically rigorous guarantees of correctness. However, its practical adoption is constrained, not only by the scalability challenges over large-scale designs, but also by the change of mindset from stimulus-driven operations to the sequence-centric axiomatic view of design behaviors, introducing extra difficulty of writing precise properties to capture the exact verification intent. This paper aims to lower the barrier of applying formal methods in verification, by making simulation "more formal." It introduces Forbench, a word-level symbolic simulation framework that retains the familiar execution semantics of simulation but augments it with solver-backed symbolic signals and state transitions, enabling systematic exploration of RTL behaviors under symbolic inputs and conditions. It offers a Python interface, similar to the existing simulation-based frameworks, for defining constraints, coordinating symbolic (co-)simulations, and performing property checks. In additional to this more accessible interface, experiments also show that Forbench achieves notably speed-up over prior symbolic methods without the loss of coverage.

cs.AR↗

arXiv2025

Subcellular proteome niche discovery using semi-supervised functional clustering

Intracellular compartmentalization of proteins underpins their function and the metabolic processes they sustain. Various mass spectrometry-based proteomics methods (subcellular spatial proteomics) now allow high throughput subcellular protein localization. Yet, the curation, analysis and interpretation of these data remain challenging, particularly in non-model organisms where establishing reliable marker proteins is difficult, and in contexts where experimental replication and subcellular fractionation are constrained. Here, we develop FSPmix, a semi-supervised functional clustering method implemented as an open-source R package, which leverages partial annotations from a subset of marker proteins to predict protein subcellular localization from subcellular spatial proteomics data. This method explicitly assumes that protein signatures vary smoothly across subcellular fractions, enabling more robust inference under low signal-to-noise data regimes. We applied FSPmix to a subcellular proteomics dataset from a marine diatom, allowing us to assign probabilistic localizations to proteins and uncover potentially new protein functions. Altogether, this work lays the foundation for more robust statistical analysis and interpretation of subcellular proteomics datasets, particularly in understudied organisms.

q-bio.QM↗