ISSTA 2025
Wed 25 - Sat 28 June 2025 Trondheim, Norway
co-located with FSE 2025
Thu 26 Jun 2025 14:25 - 14:50 at Cosmos 3A - Extended Reality and Autonomous Systems Chair(s): Lingming Zhang

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 Jun

Displayed 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
25m
Talk
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
25m
Talk
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
25m
Talk
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

Information for Participants
Thu 26 Jun 2025 14:00 - 15:15 at Cosmos 3A - Extended Reality and Autonomous Systems Chair(s): Lingming Zhang
Info for room Cosmos 3A:

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.

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