Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing

Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and tactile sensory inputs to enable dexterous in-hand manipulation. Specifically, we propose Robot Synesthesia, a novel point cloud-based tactile representation inspired by human tactile-visual synesthesia. This approach allows for the simultaneous and seamless integration of both sensory inputs, offering richer spatial information and facilitating better reasoning about robot actions. The method, trained in a simulated environment and then deployed to a real robot, is applicable to various in-hand object rotation tasks. Comprehensive ablations are performed on how the integration of vision and touch can improve reinforcement learning and Sim2Real performance. Our project page is available at https://yingyuan0414.github.io/visuotactile/ .

SpacePhish: The Evasion-space of Adversarial Attacks against Phishing Website Detectors using Machine Learning

Existing literature on adversarial Machine Learning (ML) focuses either on showing attacks that break every ML model, or defenses that withstand most attacks. Unfortunately, little consideration is given to the actual \textit{cost} of the attack or the defense. Moreover, adversarial samples are often crafted in the "feature-space", making the corresponding evaluations of questionable value. Simply put, the current situation does not allow to estimate the actual threat posed by adversarial attacks, leading to a lack of secure ML systems. We aim to clarify such confusion in this paper. By considering the application of ML for Phishing Website Detection (PWD), we formalize the "evasion-space" in which an adversarial perturbation can be introduced to fool a ML-PWD -- demonstrating that even perturbations in the "feature-space" are useful. Then, we propose a realistic threat model describing evasion attacks against ML-PWD that are cheap to stage, and hence intrinsically more attractive for real phishers. Finally, we perform the first statistically validated assessment of state-of-the-art ML-PWD against 12 evasion attacks. Our evaluation shows (i) the true efficacy of evasion attempts that are more likely to occur; and (ii) the impact of perturbations crafted in different evasion-spaces. Our realistic evasion attempts induce a statistically significant degradation (3-10% at $p\!<$0.05), and their cheap cost makes them a subtle threat. Notably, however, some ML-PWD are immune to our most realistic attacks ($p$=0.22). Our contribution paves the way for a much needed re-assessment of adversarial attacks against ML systems for cybersecurity.

A novel sentence embedding based topic detection method for micro-blog

Topic detection is a challenging task, especially without knowing the exact number of topics. In this paper, we present a novel approach based on neural network to detect topics in the micro-blogging dataset. We use an unsupervised neural sentence embedding model to map the blogs to an embedding space. Our model is a weighted power mean word embedding model, and the weights are calculated by attention mechanism. Experimental result shows our embedding method performs better than baselines in sentence clustering. In addition, we propose an improved clustering algorithm referred as relationship-aware DBSCAN (RADBSCAN). It can discover topics from a micro-blogging dataset, and the topic number depends on dataset character itself. Moreover, in order to solve the problem of parameters sensitive, we take blog forwarding relationship as a bridge of two independent clusters. Finally, we validate our approach on a dataset from sina micro-blog. The result shows that we can detect all the topics successfully and extract keywords in each topic.