外观
论文arXiv 2608.0608821 天前
IcFuzz：基于语义 Stage 引导和多级变异的 Isaac Sim 模糊测试
原文链接：IcFuzz: Fuzzing Isaac Sim with Semantic Stage Guidance and Multi-level Mutation（arXiv 2608.06088 · 发布日期：2026-10-07）
IcFuzz: Fuzzing Isaac Sim with Semantic Stage Guidance and Multi-level Mutation
IcFuzz面向Isaac Sim可靠性问题，采用语义Stage引导与多级变异进行模糊测试，以发现可能影响仿真的软件缺陷。
核心要点
- 机器人仿真器是具身智能基础设施，Isaac Sim因物理加速和逼真渲染被广泛使用。
- Isaac Sim的复杂性可能引入软件缺陷，进而削弱仿真结果的可靠性。
- 现有模糊测试难以处理上下文语义、层次化仿真控制和巨大的仿真状态空间。
- 摘要未提供具体实验设置、测试结果或是否开源的信息。
验证范围与局限：摘要仅说明面向NVIDIA Isaac Sim，未给出具体验证任务、平台或结果。
英文摘要 (Abstract)
Robotics simulators serve as a foundational infrastructure for embodied AI, facilitating safe and scalable robotic system development. NVIDIA Isaac Sim has emerged as one of the most popular simulators, distinguished by its GPU-accelerated physics engine and photorealistic rendering, which enable high-fidelity modeling of complex environments. However, its inherent complexity inevitably introduces software bugs that can compromise simulation reliability. Existing fuzzing approaches struggle to test Isaac Sim effectively due to challenges of context-aware object semantics, hierarchical simulation control, and a vast simulation state space.
作者：Zhixiang Chen, Zhuangbin Chen, Ruoxi Jia, Zeqin Liao, Wei Li, Jinyang Liu, Zibin Zheng
来源
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