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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
APARATE: Adaptive Adversarial Patch for CNN-based Monocul...
Amira Guesmi, Muhammad Abdullah Hanif, Ihsen Alouani, Muhammad S · 2023-03-02 · via cs.RO updates on arXiv.org

In recent times, monocular depth estimation (MDE) has experienced significant advancements in performance, largely attributed to the integration of innovative architectures, i.e., convolutional neural networks (CNNs) and Transformers. Nevertheless, the susceptibility of these models to adversarial attacks has emerged as a noteworthy concern, especially in domains where safety and security are paramount. This concern holds particular weight for MDE due to its critical role in applications like autonomous driving and robotic navigation, where accurate scene understanding is pivotal. To assess the vulnerability of CNN-based depth prediction methods, recent work tries to design adversarial patches against MDE. However, the existing approaches fall short of inducing a comprehensive and substantially disruptive impact on the vision system. Instead, their influence is partial and confined to specific local areas. These methods lead to erroneous depth predictions only within the overlapping region with the input image, without considering the characteristics of the target object, such as its size, shape, and position. In this paper, we introduce a novel adversarial patch named APARATE. This patch possesses the ability to selectively undermine MDE in two distinct ways: by distorting the estimated distances or by creating the illusion of an object disappearing from the perspective of the autonomous system. Notably, APARATE is designed to be sensitive to the shape and scale of the target object, and its influence extends beyond immediate proximity. APARATE, results in a mean depth estimation error surpassing $0.5$, significantly impacting as much as $99\%$ of the targeted region when applied to CNN-based MDE models. Furthermore, it yields a significant error of $0.34$ and exerts substantial influence over $94\%$ of the target region in the context of Transformer-based MDE.