SIS: Seam-Informed Strategy for T-shirt Unfolding

Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfolding a T-shirt. Candidates for a pair of grasping points for a dual-arm manipulator system are extracted using the proposed Seam Feature Extraction Method (SFEM). A pair of grasping points for the robot system is selected by the proposed Decision Matrix Iteration Method (DMIM). The decision matrix is first computed by multiple human demonstrations and updated by the robot execution results to improve the grasping and unfolding performance of the robot. Note that the proposed scheme is trained on real data without relying on simulation. Experimental results demonstrate the effectiveness of the proposed strategy. The project video is available at https://github.com/lancexz/sis.

Single Node Injection Label Specificity Attack on Graph Neural Networks via Reinforcement Learning

Graph neural networks (GNNs) have achieved remarkable success in various real-world applications. However, recent studies highlight the vulnerability of GNNs to malicious perturbations. Previous adversaries primarily focus on graph modifications or node injections to existing graphs, yielding promising results but with notable limitations. Graph modification attack~(GMA) requires manipulation of the original graph, which is often impractical, while graph injection attack~(GIA) necessitates training a surrogate model in the black-box setting, leading to significant performance degradation due to divergence between the surrogate architecture and the actual victim model. Furthermore, most methods concentrate on a single attack goal and lack a generalizable adversary to develop distinct attack strategies for diverse goals, thus limiting precise control over victim model behavior in real-world scenarios. To address these issues, we present a gradient-free generalizable adversary that injects a single malicious node to manipulate the classification result of a target node in the black-box evasion setting. We propose Gradient-free Generalizable Single Node Injection Attack, namely G$^2$-SNIA, a reinforcement learning framework employing Proximal Policy Optimization. By directly querying the victim model, G$^2$-SNIA learns patterns from exploration to achieve diverse attack goals with extremely limited attack budgets. Through comprehensive experiments over three acknowledged benchmark datasets and four prominent GNNs in the most challenging and realistic scenario, we demonstrate the superior performance of our proposed G$^2$-SNIA over the existing state-of-the-art baselines. Moreover, by comparing G$^2$-SNIA with multiple white-box evasion baselines, we confirm its capacity to generate solutions comparable to those of the best adversaries.