Due to the great advance in machine learning (ML) techniques, numerous ML models are expanding their application domains in recent years. To adapt for resource-constrained platforms such as mobile and Internet of Things (IoT) devices, pre-trained models are often processed to enhance their efficiency and compactness, using optimization techniques such as pruning and quantization. Similar to the optimization process in other complex systems, e.g., program compilers and databases, optimizations for ML models can contain bugs, leading to severe consequences such as system crashes and financial loss. While bugs in training, compiling and deployment stages have been extensively studied, there is still a lack of systematic understanding and characterization of model optimization bugs (MOBs).

In this work, we conduct the first empirical study to identify and characterize MOBs. We collect a comprehensive dataset containing 371 MOBs from TensorFlow and PyTorch, the most extensively used open-source ML frameworks, covering the entire development time span of their optimizers (May 2019 to August 2022). We then investigate the collected bugs from various perspectives, including their symptoms, root causes, life cycles, detection and fixes. Our work unveils the status quo of MOBs in the wild, and reveals their features on which future detection techniques can be based. Our findings also serve as a warning to the developers and the users of ML frameworks, and an appeal to our research community to enact dedicated countermeasures.