Ignacio Vizzo

29 papers A* 6A 2Journal 18Unranked 2
YearRankTypeTitle / Venue / Authors
2025 A* conf
ICRA
Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo, Hyun Myung, Jaesik Park, Luca Carlone
2025 A conf
IROS
Tiziano Guadagnino, Benedikt Mersch, Saurabh Gupta, Ignacio Vizzo, Giorgio Grisetti, Cyrill Stachniss
2025 J jnl
CoRR
Tiziano Guadagnino, Benedikt Mersch, Saurabh Gupta, Ignacio Vizzo, Giorgio Grisetti, Cyrill Stachniss
2025 A* conf
ICRA
Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Saurabh Gupta, Meher V. R. Malladi, Luca Lobefaro, Guillaume Doisy, Cyrill Stachniss
2025 conf
ECMR
Sumanth Nagulavancha, Dhagash Desai, Saurabh Gupta, Luca Lobefaro, Cyrill Stachniss, Ignacio Vizzo, Tiziano Guadagnino
2024 A* conf
ICRA
Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Cyrill Stachniss
2024 J jnl
CoRR
Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo, Hyun Myung, Jaesik Park, Luca Carlone
2024 J jnl
CoRR
Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Saurabh Gupta, Meher V. R. Malladi, Luca Lobefaro, Guillaume Doisy, Cyrill Stachniss
2024 A* conf
ICRA
Daniel Casado Herraez, Matthias Zeller, Le Chang, Ignacio Vizzo, Michael Heidingsfeld, Cyrill Stachniss
2024
Ignacio Vizzo
2023 J jnl
CoRR
Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
2023 J jnl
IEEE Robotics Autom. Lett.
Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
2023 J jnl
IEEE Robotics Autom. Lett.
Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley, Cyrill Stachniss
2023 J jnl
IEEE Robotics Autom. Lett.
Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Nicky Zimmerman, Yue Pan, Haofei Kuang, Jens Behley, Cyrill Stachniss
2023 conf
ITSC
Ignacio Vizzo, Benedikt Mersch, Lucas Nunes, Louis Wiesmann, Tiziano Guadagnino, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Xieyuanli Chen, Benedikt Mersch, Lucas Nunes, Rodrigo Marcuzzi, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
2022 J jnl
CoRR
Xieyuanli Chen, Benedikt Mersch, Lucas Nunes, Rodrigo Marcuzzi, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Federico Magistri, Elias Marks, Sumanth Nagulavancha, Ignacio Vizzo, Thomas Läbe, Jens Behley, Michael Halstead, Chris McCool, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Giorgio Grisetti, Jens Behley, Cyrill Stachniss
2022 J jnl
CoRR
Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Ignacio Vizzo, Benedikt Mersch, Rodrigo Marcuzzi, Louis Wiesmann, Jens Behley, Cyrill Stachniss
2022 J jnl
CoRR
Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss
2022 J jnl
IEEE Robotics Autom. Lett.
Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss
2022 J jnl
Sensors
Ignacio Vizzo, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss
2021 A* conf
ICRA
Ignacio Vizzo, Xieyuanli Chen, Nived Chebrolu, Jens Behley, Cyrill Stachniss
2021 A* conf
ICRA
Xieyuanli Chen, Ignacio Vizzo, Thomas Läbe, Jens Behley, Cyrill Stachniss
2021 J jnl
CoRR
Xieyuanli Chen, Ignacio Vizzo, Thomas Läbe, Jens Behley, Cyrill Stachniss
2019 A conf
IROS
Andres Milioto, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
tests/unit/test_apk_cfg_features.py
← Index tests/unit/test_apk_cfg_features.py python
"""
Unit tests for APK CFG feature parity with the Binary Ninja pipeline.

Tests advanced CFG features computed from smali (topology hash, MD-index,
WL-MinHash, prime product, packed adjacency, block features export) and
the slimmed similarity table.

All tests use mocked smali input — no JADX/apktool/Java required.
"""
import pytest

from redb.extractors.decompiler.apk.smali_cfg import (
    SmaliCFGMetrics,
    compute_cfg_metrics,
)
from redb.extractors.decompiler.apk.method_extractor import (
    SMALI_OP_PRIMES,
    compute_prime_product_smali,
    count_call_instructions,
)

pytestmark = [pytest.mark.unit, pytest.mark.apk, pytest.mark.decompile]


# ===================================================================
# Sample smali bodies for testing
# ===================================================================

# Simple linear method: 3 instructions, 1 block
SMALI_LINEAR = """\
    const/4 v0, 0x0
    invoke-virtual {p0, v0}, Lcom/Foo;->bar(I)V
    return-void
"""

# Diamond CFG: if-else with two paths merging
SMALI_DIAMOND = """\
    const/4 v0, 0x1
    if-eqz v0, :cond_0
    invoke-virtual {p0}, Lcom/Foo;->pathA()V
    goto :goto_0
    :cond_0
    invoke-virtual {p0}, Lcom/Foo;->pathB()V
    :goto_0
    return-void
"""

# Loop: a back edge from goto to a label before it
SMALI_LOOP = """\
    const/4 v0, 0x0
    :loop_start
    add-int/lit8 v0, v0, 0x1
    if-lt v0, v1, :loop_start
    return-void
"""

# Multi-block with several invoke calls
SMALI_MULTI_CALL = """\
    invoke-virtual {p0}, Lcom/Foo;->a()V
    invoke-static {v0}, Lcom/Bar;->b(I)V
    invoke-direct {p0, v1}, Lcom/Baz;-><init>(I)V
    const/4 v0, 0x0
    return-void
"""


# ===================================================================
# TestSmaliCFGMetricsAdvanced — new fields in SmaliCFGMetrics
# ===================================================================

class TestSmaliCFGMetricsAdvanced:
    """Test that advanced CFG fields are populated by compute_cfg_metrics."""

    def test_topology_hash_is_bytes(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert isinstance(m.cfg_topology_hash, bytes)
        assert len(m.cfg_topology_hash) == 16

    def test_topology_hash_nonzero_for_multiblock(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert m.cfg_topology_hash != b'\x00' * 16

    def test_topology_hash_zero_for_empty(self):
        m = compute_cfg_metrics("")
        assert m.cfg_topology_hash == b'\x00' * 16

    def test_identical_cfg_same_topology_hash(self):
        """Two smali methods with the same CFG structure produce the same hash."""
        smali_a = """\
    const/4 v0, 0x1
    if-eqz v0, :cond_0
    const/4 v1, 0x2
    goto :goto_0
    :cond_0
    const/4 v1, 0x3
    :goto_0
    return-void
"""
        smali_b = """\
    const/4 v5, 0x9
    if-nez v5, :cond_0
    add-int v6, v5, v5
    goto :goto_0
    :cond_0
    sub-int v6, v5, v5
    :goto_0
    return-void
"""
        m_a = compute_cfg_metrics(smali_a)
        m_b = compute_cfg_metrics(smali_b)
        assert m_a.cfg_topology_hash == m_b.cfg_topology_hash

    def test_different_cfg_different_topology_hash(self):
        m_linear = compute_cfg_metrics(SMALI_LINEAR)
        m_diamond = compute_cfg_metrics(SMALI_DIAMOND)
        assert m_linear.cfg_topology_hash != m_diamond.cfg_topology_hash

    def test_md_index_topdown_nonzero(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert m.md_index_topdown != 0

    def test_md_index_bottomup_nonzero(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert m.md_index_bottomup != 0

    def test_md_index_zero_for_empty(self):
        m = compute_cfg_metrics("")
        assert m.md_index_topdown == 0
        assert m.md_index_bottomup == 0

    def test_wl_minhash_length(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert len(m.wl_minhash) == 128

    def test_wl_minhash_sentinel_for_empty(self):
        m = compute_cfg_metrics("")
        assert m.wl_minhash == [255] * 128

    def test_wl_minhash_values_are_uint8(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        for val in m.wl_minhash:
            assert 0 <= val <= 255

    def test_cfg_adjacency_nonempty_for_multiblock(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert len(m.cfg_adjacency) > 0

    def test_cfg_adjacency_empty_for_empty(self):
        m = compute_cfg_metrics("")
        assert m.cfg_adjacency == []

    def test_cfg_adjacency_packed_format(self):
        """Each entry should be (src << 16) | tgt."""
        m = compute_cfg_metrics(SMALI_DIAMOND)
        for edge in m.cfg_adjacency:
            assert isinstance(edge, int)
            src = edge >> 16
            tgt = edge & 0xFFFF
            assert src < m.block_count
            assert tgt < m.block_count

    def test_block_features_exported(self):
        m = compute_cfg_metrics(SMALI_DIAMOND)
        assert len(m.block_features) == m.block_count
        for bf in m.block_features:
            assert len(bf) == 8  # 7 categories + successor_count

    def test_cfg_feature_tlsh_none_for_small(self):
        """Small methods produce None (< 50 bytes of feature data)."""
        m = compute_cfg_metrics(SMALI_LINEAR)
        # Single-block linear method — too small for TLSH
        assert m.cfg_feature_tlsh is None

    def test_loop_count_with_back_edge(self):
        m = compute_cfg_metrics(SMALI_LOOP)
        assert m.loop_count >= 1


# ===================================================================
# TestPrimeProductSmali
# ===================================================================

class TestPrimeProductSmali:

    def test_empty_returns_zero(self):
        assert compute_prime_product_smali("") == 0

    def test_none_returns_zero(self):
        assert compute_prime_product_smali(None) == 0

    def test_known_computation(self):
        """Single invoke instruction → CALL category → prime 17."""
        smali = "    invoke-virtual {p0}, Lcom/Foo;->bar()V"
        assert compute_prime_product_smali(smali) == 17

    def test_two_instructions(self):
        """const (CONST→2) * invoke (CALL→17) = 34."""
        smali = """\
    const/4 v0, 0x0
    invoke-virtual {p0, v0}, Lcom/Foo;->bar(I)V
"""
        assert compute_prime_product_smali(smali) == 2 * 17

    def test_skips_directives_and_labels(self):
        """Directives, labels, and comments should be skipped."""
        smali = """\
.registers 2
.line 10
    :label
    # comment
    const/4 v0, 0x0
"""
        # Only const/4 → CONST → prime 2
        assert compute_prime_product_smali(smali) == 2

    def test_position_independent(self):
        """Reordering instructions produces the same product (multiplication is commutative)."""
        smali_a = """\
    add-int v0, v1, v2
    invoke-virtual {p0}, Lcom/Foo;->bar()V
"""
        smali_b = """\
    invoke-virtual {p0}, Lcom/Foo;->bar()V
    add-int v0, v1, v2
"""
        assert compute_prime_product_smali(smali_a) == compute_prime_product_smali(smali_b)

    def test_all_categories_have_primes(self):
        """Every category in SMALI_OP_PRIMES is a positive integer."""
        for cat, prime in SMALI_OP_PRIMES.items():
            assert isinstance(prime, int)
            assert prime >= 1

    def test_mod_2_64(self):
        """Result should be mod 2^64 (doesn't overflow)."""
        # A very long method — product stays within uint64
        smali = "\n".join(["    mul-int v0, v1, v2"] * 1000)
        result = compute_prime_product_smali(smali)
        assert 0 <= result < 2**64


# ===================================================================
# TestCallCount
# ===================================================================

class TestCallCount:

    def test_empty(self):
        assert count_call_instructions("") == 0

    def test_none(self):
        assert count_call_instructions(None) == 0

    def test_single_invoke(self):
        smali = "    invoke-virtual {p0}, Lcom/Foo;->bar()V"
        assert count_call_instructions(smali) == 1

    def test_multiple_invoke_types(self):
        assert count_call_instructions(SMALI_MULTI_CALL) == 3

    def test_non_invoke_not_counted(self):
        smali = """\
    const/4 v0, 0x0
    add-int v1, v0, v0
    return-void
"""
        assert count_call_instructions(smali) == 0


# ===================================================================
# TestSimilarityTableSlimmed
# ===================================================================

class TestSimilarityTableSlimmed:
    """Verify the similarity table no longer contains moved fields."""

    def test_export_similarity_no_block_count(self):
        """block_count should not be in similarity export columns."""
        from redb.extractors.decompiler.DecompileAPK import DecompileAPK
        from unittest.mock import MagicMock

        extractor = DecompileAPK.__new__(DecompileAPK)
        extractor.log = MagicMock()
        extractor.sha256 = "a" * 64
        extractor.sha1 = "b" * 40
        extractor.md5 = "c" * 32
        extractor.analysis_results = {
            "sha256": "a" * 64,
            "sha1": "b" * 40,
            "md5": "c" * 32,
            "similarity_metrics": [{
                "smali_method_hash": "d" * 64,
                "cyclomatic_complexity": 3,
                "ssdeep_smali": None,
                "tlsh_smali": None,
                "minhash": [1, 2, 3],
            }],
        }

        export = extractor.prepare_export_data("ClickHouseExporter")
        sim_cols = export["method_similarity_metrics"]["column_names"]
        assert "block_count" not in sim_cols
        assert "edge_count" not in sim_cols
        assert "loop_count" not in sim_cols
        assert "max_depth" not in sim_cols
        assert "max_fan_out" not in sim_cols
        # These should still be there
        assert "smali_method_hash" in sim_cols
        assert "ssdeep_smali" in sim_cols
        assert "minhash" in sim_cols
        # cyclomatic_complexity moved to cfg table
        assert "cyclomatic_complexity" not in sim_cols


# ===================================================================
# TestCFGTableExport
# ===================================================================

class TestCFGTableExport:
    """Verify the new CFG table is exported correctly."""

    def test_export_cfg_table_present(self):
        from redb.extractors.decompiler.DecompileAPK import DecompileAPK
        from unittest.mock import MagicMock

        extractor = DecompileAPK.__new__(DecompileAPK)
        extractor.log = MagicMock()
        extractor.analysis_results = {
            "sha256": "a" * 64,
            "sha1": "b" * 40,
            "md5": "c" * 32,
            "cfg": [{
                "smali_method_hash": "d" * 64,
                "cfg_topology_hash": b'\x01' * 16,
                "block_count": 4,
                "edge_count": 5,
                "instructions_count": 20,
                "call_count": 3,
                "cyclomatic_complexity": 3,
                "loop_count": 1,
                "max_depth": 2,
                "max_fan_out": 2,
                "md_index_topdown": 12345,
                "md_index_bottomup": 67890,
                "prime_product_smali": 999,
                "cfg_feature_tlsh": None,
                "wl_minhash": [0] * 128,
                "bb_features": [[10, 1, 0, 2, 1, 0, 0, 2]] * 4,
                "cfg_adjacency": [0x00010000, 0x00010002],
            }],
        }

        export = extractor.prepare_export_data("ClickHouseExporter")
        assert "cfg_methods" in export
        cfg_export = export["cfg_methods"]
        assert cfg_export["table"] == "code_apk_cfg_methods"
        assert len(cfg_export["data"]) == 1
        assert "cfg_topology_hash" in cfg_export["column_names"]
        assert "prime_product_smali" in cfg_export["column_names"]
        assert "wl_minhash" in cfg_export["column_names"]
        assert "bb_features" in cfg_export["column_names"]
        assert "cfg_adjacency" in cfg_export["column_names"]
        # Verify column count matches data width
        assert len(cfg_export["column_names"]) == len(cfg_export["data"][0])
        assert len(cfg_export["column_type_names"]) == len(cfg_export["data"][0])