47 citations · 172 across the 92 of their papers we have counts for
22 papers · 1 filter
World Models for Learning Dexterous Hand-Object Interactions from Human Videos
Raktim Gautam Goswami, Amir Bar, David Fan +6
Modeling dexterous hand-object interactions is challenging as it requires understanding how subtle finger motions influence the environment through contact with objects. While rece…
BOP-ASK: Object-Interaction Reasoning for Vision-Language Models
Vineet Bhat, Sungsu Kim, Valts Blukis +6
Vision Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interacti…
Binary Diff Summarization using Large Language Models
Meet Udeshi, Venkata Sai Charan Putrevu, Prashanth Krishnamurthy +4
Security of software supply chains is necessary to ensure that software updates do not contain maliciously injected code or introduce vulnerabilities that may compromise the integr…
Ransomware 3.0: Self-Composing and LLM-Orchestrated
Md Raz, Meet Udeshi, P. V. Sai Charan +3
Using automated reasoning, code synthesis, and contextual decision-making, we introduce a new threat that exploits large language models (LLMs) to autonomously plan, adapt, and exe…
SCAMPER -- Synchrophasor Covert chAnnel for Malicious and Protective ERrands
Prashanth Krishnamurthy, Ramesh Karri, Farshad Khorrami
We note that constituent fields (notably the fraction-of-seconds timestamp field) in the data payload structure of the synchrophasor communication protocol (IEEE C37.118 standard)…
A Consensus Algorithm for Second-Order Systems Evolving on Lie Groups
Akhil B Krishna, Farshad Khorrami, Anthony Tzes
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The…
An Orchestrated Sandbox for Side-Channel Analysis of Cyber-Physical Systems Malware
Meet Udeshi, Venkata Sai Charan Putrevu, Prashanth Krishnamurthy +2
Embedded devices powering cyber-physical systems (CPS) are increasingly internet-exposed, placing critical infrastructure under active threat. Dynamic analysis of embedded malware…
Towards Effective Offensive Security LLM Agents: Hyperparameter Tuning, LLM as a Judge, and a Lightweight CTF Benchmark
Minghao Shao, Nanda Rani, Kimberly Milner +9
Recent advances in LLM agentic systems have improved the automation of offensive security tasks, particularly for Capture the Flag (CTF) challenges. We systematically investigate t…
A Differentiable Distance Metric for Robotics Through Generalized Alternating Projection
Vinicius M. Gonçalves, Shiqing Wei, Eduardo Malacarne S. de Souza +3
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control bar…
MapleGrasp: Mask-guided Feature Pooling for Language-driven Efficient Robotic Grasping
Vineet Bhat, Naman Patel, Prashanth Krishnamurthy +2
Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language…
Chain-of-Frames: Advancing Video Understanding in Multimodal LLMs via Frame-Aware Reasoning
Sara Ghazanfari, Francesco Croce, Nicolas Flammarion +3
Recent work has shown that eliciting Large Language Models (LLMs) to generate reasoning traces in natural language before answering the user's request can significantly improve the…
Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios
Patanjali Maithani, Aliasghar Arab, Farshad Khorrami +1
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is ess…
CRAKEN: Cybersecurity LLM Agent with Knowledge-Based Execution
Minghao Shao, Haoran Xi, Nanda Rani +9
Large Language Model (LLM) agents can automate cybersecurity tasks and can adapt to the evolving cybersecurity landscape without re-engineering. While LLM agents have demonstrated…
RAZER: Robust Accelerated Zero-Shot 3D Open-Vocabulary Panoptic Reconstruction with Spatio-Temporal Aggregation
Naman Patel, Prashanth Krishnamurthy, Farshad Khorrami
Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstru…
OSVI-WM: One-Shot Visual Imitation for Unseen Tasks using World-Model-Guided Trajectory Generation
Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1
Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a…
3D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Tasks
Vineet Bhat, Yu-Hsiang Lan, Prashanth Krishnamurthy +2
Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integ…
Enabling Deep Visibility into VxWorks-Based Embedded Controllers in Cyber-Physical Systems for Anomaly Detection
Prashanth Krishnamurthy, Ramesh Karri, Farshad Khorrami
We propose the DIVER (Defensive Implant for Visibility into Embedded Run-times) framework for real-time deep visibility into embedded control devices in cyber-physical systems (CPS…
Compliant Control of Quadruped Robots for Assistive Load Carrying
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used…
Safe Multi-Robotic Arm Interaction via 3D Convex Shapes
Ali Umut Kaypak, Shiqing Wei, Prashanth Krishnamurthy +1
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Or…
D-CIPHER: Dynamic Collaborative Intelligent Multi-Agent System with Planner and Heterogeneous Executors for Offensive Security
Meet Udeshi, Minghao Shao, Haoran Xi +9
Large Language Models (LLMs) have been used in cybersecurity such as autonomous security analysis or penetration testing. Capture the Flag (CTF) challenges serve as benchmarks to a…
Real-Time Multi-Modal Subcomponent-Level Measurements for Trustworthy System Monitoring and Malware Detection
Farshad Khorrami, Ramesh Karri, Prashanth Krishnamurthy
With increasingly sophisticated cyber-adversaries able to access a wider repertoire of mechanisms to implant malware such as ransomware, CPU/GPU keyloggers, and stealthy kernel roo…
SHIELD: A Host-Independent Framework for Ransomware Detection using Deep Filesystem Features
Md Raz, Venkata Sai Charan Putrevu, Prashanth Krishnamurthy +2
Ransomware's escalating sophistication necessitates tamper-resistant, off-host detection solutions that capture deep disk activity beyond the reach of a compromised operating syste…