Reliable Virtual Sensing: A Multi-Domain Benchmark for Robustness Under Sensor Failures

Cyber-physical system (CPS) forecasting models depend on sensor streams with noisy, biased, missing, or temporally misaligned readings, yet standard forecasting evaluation often selects models by nominal error without showing whether they remain robust under such faults. We introduce SensorFault-Bench, a shared CPS-grounded sensor-fault stress-test protocol for evaluating forecasting architectures and robustness-improvement methods, and an operational taxonomy organizing the method comparison. Across four real-world datasets and eight scored scenarios governed by a standardized severity model, it reports worst-scenario degradation, clean mean squared error (MSE), and worst-scenario fault-time MSE, separating relative robustness from absolute error. A disjoint fault-transfer split lets explicit fault-training methods train on adjacent fault families while evaluation uses separate benchmark scenarios. Empirically, forecasting architectures favored by clean MSE can degrade sharply under faults, and clean-MSE rankings can disagree with worst-scenario fault-time error rankings. Chronos-2, the evaluated zero-shot foundation-model representative, matches or trails the last-value naive forecaster in clean MSE on the two single-target datasets and has the largest worst-scenario degradation on ETTh1 and Traffic, where all channels are forecast targets. For the evaluated robustness-improvement method set, paired deltas show selective degradation reductions: projected gradient descent adversarial training and randomized training lead where value faults dominate observed degradation, while fault augmentation leads where availability faults dominate. SensorFault-Bench provides open-source code, documented data access, and reproduction and extension guides, so new datasets, architectures, and robustness-improvement methods can be evaluated under the same CPS sensor-fault robustness protocol.

Visual-language models (VLMs) frequently struggle with robustness issues in real-world situations due to low- or varying-quality input images. In this paper, we aim at analyzing VLMs' robustness by applying perturbations and distortions to the input images, such as blur or low contrast. Toward this goal, we propose BRUCE (Benchmarking Robustness Under Corruption Escalation, a multimodal reasoning fragility framework for scientific vision-language reasoning. State-of-the-art evaluation frameworks/studies primarily focus on clean-task accuracy and rarely analyze how reasoning stability degrades across robustness dimensions. Besides varying over a wide-range of input perturbations, BRUCE employs two novel metrics -- Robustness Corruption Index (RCI) and Traversal-RCI (T-RCI) -- to quantify how rapidly multimodal reasoning performance deteriorates in VLMs as visual corruption severity increases under progressive perturbation scaling. We evaluate BRUCE across chemistry and mathematical reasoning tasks for multiple datasets, while analyzing corruption-induced prediction failures in terms of four high-level reasoning domains: OCR-dependent reasoning, spatial reasoning, symbolic reasoning, and semantic failures, with each containing fine-grained corruption specific failure subtypes, thereby enabling an interpretable failure analysis.

Visual corruptions can change vision--language model (VLM) behavior in ways that top-1 accuracy does not capture. A model may keep the same answer while losing distributional support, or improve accuracy through unstable wrong-to-correct changes. We introduce Bench-C, a controlled multiple-choice testbed for studying these effects. It selects semantically diverse samples whose predictions respond to corruption, and evaluates them under 19 corruption types and five severity levels. To measure how corruption changes the option distribution, we introduce the Robustness Alignment Score (RAS), which combines confidence-correctness alignment with uncertainty direction. We further separate originally correct samples from originally wrong samples, and track whether changes are temporary or persistent across severity. Experiments across 13 VLMs reveal a counterintuitive pattern: mild corruptions can improve top-1 accuracy while degrading prediction structure. These failures include silent degradation, erroneous overconfidence, and severity-dependent persistence. Bench-C therefore supports robustness evaluation that goes beyond final answers and attributes where reliability changes occur. Code and data are available at https://github.com/xiangjieSui/Bench-C.