Deformable object manipulation is a challenging problem due to its complex deformable properties. With the development of artificial intelligence, learning-based methods have shown outstanding performance in robotic manipulation. Previous works have investigated the manipulation of deformable objects via Reinforcement Learning (RL) in simulation. However, they approximate object deformation with particles, using particle states as observations, which are unavailable in reality. To address these issues, we utilize Vision-Based Tactile Sensors (VBTSs) as the end-effector to manipulate and observe the deformable objects. In this work, we develop a new contact simulation environment for deformable objects, including elastic, plastic, and elastoplastic. We utilize RL strategies and expert demonstrations to train agents in the simulation. Finally, we build a real experimental platform to complete the sim-to-real tasks and robustness testing. Our work introduces an innovative strategy that utilizes high-resolution VBTSs for contact simulation and manipulation of deformable objects. The experimental results show superior performances of deformable object manipulation with the proposed method.

Components are the fundamental building blocks of Android applications. Different functional modules represented by components often rely on inter-component communication mechanisms to achieve cross-module data transfer and method invocation. It is necessary to conduct robustness testing on components to prevent component launching crashes and privacy leaks caused by unexpected input parameters. However, as the complexity of the input parameter structure and the diversity of possible inputs, developers may overlook specific inputs that result in exceptions. At the same time, the vast input space also brings challenges to efficient component testing. In this paper, we designed an automated test generation and execution tool for Android application components named ICTDroid, which combines static parameter extraction and adaptive-strength combinatorial testing generation to detect bugs with a compact test suite. Experiments have shown that the tool triggers 205 unique exceptions in 30 open-source applications with 1,919 test cases in 83 minutes, where the developers have confirmed six defects in three issues we reported.

Inter-component communication (ICC) is a widely used mechanism in mobile apps, which enables message-based control flow transferring and data passing between Android components. Effective ICC resolution requires precisely identifying entry points, analyzing data values of ICC fields, modeling related framework APIs, etc. Due to various control-flow- and data-flow-related characteristics involved and the lack of oracles for real-world apps, the comprehensive evaluation of ICC resolution techniques is challenging.