Yanzhou Mu

Zhixiang Cao, Di Tian, Runwei Guan et al.

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.

Yuan Xiao, Jiaming Wang, Yuchen Chen et al.

The widespread availability of large-scale code datasets has accelerated the development of code large language models (CodeLLMs), raising concerns about unauthorized dataset usage. Dataset poisoning offers a proactive defense by reducing the utility of such unauthorized training. However, existing poisoning methods often require full dataset poisoning and introduce transformations that break code compilability. In this paper, we introduce FunPoison, a functionality-preserving poisoning approach that injects short, compilable weak-use fragments into executed code paths. FunPoison leverages reusable statement-level templates with automatic repair and conservative safety checking to ensure side-effect freedom, while a type-aware synthesis module suppresses static analysis warnings and enhances stealth. Extensive experiments show that FunPoison achieves effective poisoning by contaminating only 10% of the dataset, while maintaining 100% compilability and functional correctness, and remains robust against various advanced code sanitization techniques.

An Guo, Shuoxiao Zhang, Enyi Tang et al.

With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) cooperative perception has the potential to address limitations in sensing distant objects and occlusion for a single-agent perception system. V2X cooperative perception systems are software systems characterized by diverse sensor types and cooperative agents, varying fusion schemes, and operation under different communication conditions. Therefore, their complex composition gives rise to numerous operational challenges. Furthermore, when cooperative perception systems produce erroneous predictions, the types of errors and their underlying causes remain insufficiently explored. To bridge this gap, we take an initial step by conducting an empirical study of V2X cooperative perception. To systematically evaluate the impact of cooperative perception on the ego vehicle's perception performance, we identify and analyze six prevalent error patterns in cooperative perception systems. We further conduct a systematic evaluation of the critical components of these systems through our large-scale study and identify the following key findings: (1) The LiDAR-based cooperation configuration exhibits the highest perception performance; (2) Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication exhibit distinct cooperative perception performance under different fusion schemes; (3) Increased cooperative perception errors may result in a higher frequency of driving violations; (4) Cooperative perception systems are not robust against communication interference when running online. Our results reveal potential risks and vulnerabilities in critical components of cooperative perception systems. We hope that our findings can better promote the design and repair of cooperative perception systems.

Xiang Chen, Yanzhou Mu, Chao Ni et al.

Until now, researchers have proposed several novel heterogeneous defect prediction HDP methods with promising performance. To the best of our knowledge, whether HDP methods can perform significantly better than unsupervised methods has not yet been thoroughly investigated. In this article, we perform a replication study to have a holistic look in this issue. In particular, we compare state-of-the-art five HDP methods with five unsupervised methods. Final results surprisingly show that these HDP methods do not perform significantly better than some of unsupervised methods (especially the simple unsupervised methods proposed by Zhou et al.) in terms of two non-effort-aware performance measures and four effort-aware performance measures. Then, we perform diversity analysis on defective modules via McNemar's test and find the prediction diversity is more obvious when the comparison is performed between the HDP methods and the unsupervised methods than the comparisons only between the HDP methods or between the unsupervised methods. This shows the HDP methods and the unsupervised methods are complementary to each other in identifying defective models to some extent. Finally, we investigate the feasibility of five HDP methods by considering two satisfactory criteria recommended by previous CPDP studies and find the satisfactory ratio of these HDP methods is still pessimistic. The above empirical results implicate there is still a long way for heterogeneous defect prediction to go. More effective HDP methods need to be designed and the unsupervised methods should be considered as baselines.