Reinforcement Learning-based Fuzz Testing for the Gazebo Robotic Simulator
Gazebo, being the most widely utilized simulator in robotics, plays a pivotal role in developing and testing robotic systems. Given its impact on the safety and reliability of robotic operations, early bug detection is critical. However, due to the challenges of strict input structures and vast state space, it is not effective to directly use existing fuzz testing approach to Gazebo. In this paper, we present GzFuzz, the first fuzz testing framework designed for Gazebo. GzFuzz addresses these challenges through a syntax-aware feasible command generation mechanism to handle strict input requirements, and a reinforcement learning-based command generator selection mechanism to efficiently explore the state space. By combining the two mechanisms under a unified framework, GzFuzz is able to detect bugs in Gazebo effectively. In extensive experiments, GzFuzz is able to detect an average of 9.6 unique bugs in 12 hours, and exhibits a substantial increase in code coverage than existing fuzzers AFL++ and Fuzzotron, with a proportionate improvement of approximately 234%-360%. In less than six months, GzFuzz uncovered 25 unique crashes in Gazebo, 19 of which have been fixed or confirmed. Our results highlight the importance of directly fuzzing Gazebo, thereby presenting a novel and potent methodology that serves as an inspiration for enhancing testing across a broader range of simulators.
Thu 26 JunDisplayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change
14:00 - 15:15 | Extended Reality and Autonomous SystemsResearch Papers at Cosmos 3A Chair(s): Lingming Zhang University of Illinois at Urbana-Champaign | ||
14:00 25mTalk | Assessing Scene Generation Techniques for Testing COLREGS-Compliance of Autonomous Surface Vehicles Research Papers Dominik Frey Linköping University, Ulf Kargén Linköping University, Daniel Varro Linköping University / McGill University DOI | ||
14:25 25mTalk | Reinforcement Learning-based Fuzz Testing for the Gazebo Robotic Simulator Research Papers Zhilei Ren Dalian University of Technology, Yitao Li Dalian University of Technology, Xiaochen Li Dalian University of Technology, Guanxiao Qi Dalian University of Technology, Jifeng Xuan Wuhan University, He Jiang Dalian University of Technology DOI | ||
14:50 25mTalk | Extended Reality Cybersickness Assessment via User Review Analysis Research Papers Shuqing Li The Chinese University of Hong Kong, Qisheng Zheng Harbin Institute of Technology, Cuiyun Gao Harbin Institute of Technology, jiafeng Harbin Institute of Technology, Michael Lyu Chinese University of Hong Kong DOI |
Cosmos 3A is the first room in the Cosmos 3 wing.
When facing the main Cosmos Hall, access to the Cosmos 3 wing is on the left, close to the stairs. The area is accessed through a large door with the number “3”, which will stay open during the event.