Researcher profile

Haoxiang Zhang

Haoxiang Zhang contributes to research discovery and scholarly infrastructure.

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Published work

8 published item(s)

preprint2026arXiv

Beyond Semantic Similarity: Rethinking Retrieval for Agentic Search via Direct Corpus Interaction

Modern retrieval systems, whether lexical or semantic, expose a corpus through a fixed similarity interface that compresses access into a single top-k retrieval step before reasoning. This abstraction is efficient, but for agentic search, it becomes a bottleneck: exact lexical constraints, sparse clue conjunctions, local context checks, and multi-step hypothesis refinement are difficult to implement by calling a conventional off-the-shelf retriever, and evidence filtered out early cannot be recovered by stronger downstream reasoning. Agentic tasks further exacerbate this limitation because they require agents to orchestrate multiple steps, including discovering intermediate entities, combining weak clues, and revising the plan after observing partial evidence. To tackle the limitation, we study direct corpus interaction (DCI), where an agent searches the raw corpus directly with general-purpose terminal tools (e.g., grep, file reads, shell commands, lightweight scripts), without any embedding model, vector index, or retrieval API. This approach requires no offline indexing and adapts naturally to evolving local corpora. Across IR benchmarks and end-to-end agentic search tasks, this simple setup substantially outperforms strong sparse, dense, and reranking baselines on several BRIGHT and BEIR datasets, and attains strong accuracy on BrowseComp-Plus and multi-hop QA without relying on any conventional semantic retriever. Our results indicate that as language agents become stronger, retrieval quality depends not only on reasoning ability but also on the resolution of the interface through which the model interacts with the corpus, with which DCI opens a broader interface-design space for agentic search.

preprint2026arXiv

GR-Dexter Technical Report

Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object occlusions, and the cost of collecting real-robot data. We present GR-Dexter, a holistic hardware-model-data framework for VLA-based generalist manipulation on a bimanual dexterous-hand robot. Our approach combines the design of a compact 21-DoF robotic hand, an intuitive bimanual teleoperation system for real-robot data collection, and a training recipe that leverages teleoperated robot trajectories together with large-scale vision-language and carefully curated cross-embodiment datasets. Across real-world evaluations spanning long-horizon everyday manipulation and generalizable pick-and-place, GR-Dexter achieves strong in-domain performance and improved robustness to unseen objects and unseen instructions. We hope GR-Dexter serves as a practical step toward generalist dexterous-hand robotic manipulation.

preprint2022arXiv

An Intelligent Assistant for Converting City Requirements to Formal Specification

As more and more monitoring systems have been deployed to smart cities, there comes a higher demand for converting new human-specified requirements to machine-understandable formal specifications automatically. However, these human-specific requirements are often written in English and bring missing, inaccurate, or ambiguous information. In this paper, we present CitySpec, an intelligent assistant system for requirement specification in smart cities. CitySpec not only helps overcome the language differences brought by English requirements and formal specifications, but also offers solutions to those missing, inaccurate, or ambiguous information. The goal of this paper is to demonstrate how CitySpec works. Specifically, we present three demos: (1) interactive completion of requirements in CitySpec; (2) human-in-the-loop correction while CitySepc encounters exceptions; (3) online learning in CitySpec.

preprint2022arXiv

CitySpec: An Intelligent Assistant System for Requirement Specification in Smart Cities

An increasing number of monitoring systems have been developed in smart cities to ensure that real-time operations of a city satisfy safety and performance requirements. However, many existing city requirements are written in English with missing, inaccurate, or ambiguous information. There is a high demand for assisting city policy makers in converting human-specified requirements to machine-understandable formal specifications for monitoring systems. To tackle this limitation, we build CitySpec, the first intelligent assistant system for requirement specification in smart cities. To create CitySpec, we first collect over 1,500 real-world city requirements across different domains from over 100 cities and extract city-specific knowledge to generate a dataset of city vocabulary with 3,061 words. We also build a translation model and enhance it through requirement synthesis and develop a novel online learning framework with validation under uncertainty. The evaluation results on real-world city requirements show that CitySpec increases the sentence-level accuracy of requirement specification from 59.02% to 86.64%, and has strong adaptability to a new city and a new domain (e.g., F1 score for requirements in Seattle increases from 77.6% to 93.75% with online learning).

preprint2022arXiv

Mixed Reality Depth Contour Occlusion Using Binocular Similarity Matching and Three-dimensional Contour Optimisation

Mixed reality applications often require virtual objects that are partly occluded by real objects. However, previous research and commercial products have limitations in terms of performance and efficiency. To address these challenges, we propose a novel depth contour occlusion (DCO) algorithm. The proposed method is based on the sensitivity of contour occlusion and a binocular stereoscopic vision device. In this method, a depth contour map is combined with a sparse depth map obtained from a two-stage adaptive filter area stereo matching algorithm and the depth contour information of the objects extracted by a digital image stabilisation optical flow method. We also propose a quadratic optimisation model with three constraints to generate an accurate dense map of the depth contour for high-quality real-virtual occlusion. The whole process is accelerated by GPU. To evaluate the effectiveness of the algorithm, we demonstrate a time con-sumption statistical analysis for each stage of the DCO algorithm execution. To verify the relia-bility of the real-virtual occlusion effect, we conduct an experimental analysis on single-sided, enclosed, and complex occlusions; subsequently, we compare it with the occlusion method without quadratic optimisation. With our GPU implementation for real-time DCO, the evaluation indicates that applying the presented DCO algorithm can enhance the real-time performance and the visual quality of real-virtual occlusion.

preprint2022arXiv

Revisiting reopened bugs in open source software systems

Reopened bugs can degrade the overall quality of a software system since they require unnecessary rework by developers. Moreover, reopened bugs also lead to a loss of trust in the end-users regarding the quality of the software. Thus, predicting bugs that might be reopened could be extremely helpful for software developers to avoid rework. Prior studies on reopened bug prediction focus only on three open source projects (i.e., Apache, Eclipse, and OpenOffice) to generate insights. We observe that one out of the three projects (i.e., Apache) has a data leak issue -- the bug status of reopened was included as training data to predict reopened bugs. In addition, prior studies used an outdated prediction model pipeline (i.e., with old techniques for constructing a prediction model) to predict reopened bugs. Therefore, we revisit the reopened bugs study on a large scale dataset consisting of 47 projects tracked by JIRA using the modern techniques such as SMOTE, permutation importance together with 7 different machine learning models. We study the reopened bugs using a mixed methods approach (i.e., both quantitative and qualitative study). We find that: 1) After using an updated reopened bug prediction model pipeline, only 34% projects give an acceptable performance with AUC >= 0.7. 2) There are four major reasons for a bug getting reopened, that is, technical (i.e., patch/integration issues), documentation, human (i.e., due to incorrect bug assessment), and reasons not shown in the bug reports. 3) In projects with an acceptable AUC, 94% of the reopened bugs are due to patch issues (i.e., the usage of an incorrect patch) identified before bug reopening. Our study revisits reopened bugs and provides new insights into developer's bug reopening activities.

preprint2021arXiv

An Exploratory Study on the Repeatedly Shared External Links on Stack Overflow

On Stack Overflow, users reuse 11,926,354 external links to share the resources hosted outside the Stack Overflow website. The external links connect to the existing programming-related knowledge and extend the crowdsourced knowledge on Stack Overflow. Some of the external links, so-called as repeated external links, can be shared for multiple times. We observe that 82.5% of the link sharing activities (i.e., sharing links in any question, answer, or comment) on Stack Overflow share external resources, and 57.0% of the occurrences of the external links are sharing the repeated external links. However, it is still unclear what types of external resources are repeatedly shared. To help users manage their knowledge, we wish to investigate the characteristics of the repeated external links in knowledge sharing on Stack Overflow. In this paper, we analyze the repeated external links on Stack Overflow. We observe that external links that point to the text resources (hosted in documentation websites, tutorial websites, etc.) are repeatedly shared the most. We observe that: 1) different users repeatedly share the same knowledge in the form of repeated external links, thus increasing the maintenance effort of knowledge (e.g., update invalid links in multiple posts), 2) the same users can repeatedly share the external links for the purpose of promotion, and 3) external links can point to webpages with an overload of information that is difficult for users to retrieve relevant information. Our findings provide insights to Stack Overflow moderators and researchers. For example, we encourage Stack Overflow to centrally manage the commonly occurring knowledge in the form of repeated external links in order to better maintain the crowdsourced knowledge on Stack Overflow.

preprint2020arXiv

Broken External Links on Stack Overflow

Stack Overflow hosts valuable programming-related knowledge with 11,926,354 links that reference to the third-party websites. The links that reference to the resources hosted outside the Stack Overflow websites extend the Stack Overflow knowledge base substantially. However, with the rapid development of programming-related knowledge, many resources hosted on the Internet are not available anymore. Based on our analysis of the Stack Overflow data that was released on Jun. 2, 2019, 14.2% of the links on Stack Overflow are broken links. The broken links on Stack Overflow can obstruct viewers from obtaining desired programming-related knowledge, and potentially damage the reputation of the Stack Overflow as viewers might regard the posts with broken links as obsolete. In this paper, we characterize the broken links on Stack Overflow. 65% of the broken links in our sampled questions are used to show examples, e.g., code examples. 70% of the broken links in our sampled answers are used to provide supporting information, e.g., explaining a certain concept and describing a step to solve a problem. Only 1.67% of the posts with broken links are highlighted as such by viewers in the posts' comments. Only 5.8% of the posts with broken links removed the broken links. Viewers cannot fully rely on the vote scores to detect broken links, as broken links are common across posts with different vote scores. The websites that host resources that can be maintained by their users are referenced by broken links the most on Stack Overflow -- a prominent example of such websites is GitHub. The posts and comments related to the web technologies, i.e., JavaScript, HTML, CSS, and jQuery, are associated with more broken links. Based on our findings, we shed lights for future directions and provide recommendations for practitioners and researchers.