7 accepted papers
High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a challenge. This paper presents a novel simulation framework, th…
Path planning algorithms, such as the searchbased A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xli
While Large Language Models (LLMs) have gained remarkable success, they are consistently at risk of being stolen when deployed on untrusted edge devices. As a solution, TEE-based secure inference has been proposed to protect valuable model property. However, we identify a statistical vulnerability i…
In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding trajectories, an image-conditioned diffusion planner for mobile rob…
We present DiPPeST, a novel image and goal conditioned diffusion-based trajectory generator for quadrupedal robot path planning. DiPPeST is a zero-shot adaptation of our previously introduced diffusion-based 2D global trajectory generator (DiPPeR). The introduced system incorporates a novel strategy…
Due to the high cost of training DNN models, how to protect the intellectual property of DNN models, especially when the models are deployed to users' devices, is becoming an important topic. One practical solution is to use Trusted Execution Environments (TEEs) and researchers have proposed various…
Gradient inversion attacks have posed a serious threat to the privacy of federated learning. The attacks search for the optimal pair of input and label best matching the shared gradients and the search space of the attacks can be reduced by pre-restoring labels. Recently, label restoration technique…