RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work.

Towards Imperceptible Adversarial Image Patches Based on Network Explanations

The vulnerability of deep neural networks (DNNs) for adversarial examples have attracted more attention. Many algorithms are proposed to craft powerful adversarial examples. However, these algorithms modifying the global or local region of pixels without taking into account network explanations. Hence, the perturbations are redundancy and easily detected by human eyes. In this paper, we propose a novel method to generate local region perturbations. The main idea is to find the contributing feature regions (CFRs) of images based on network explanations for perturbations. Due to the network explanations, the perturbations added to the CFRs are more effective than other regions. In our method, a soft mask matrix is designed to represent the CFRs for finely characterizing the contributions of each pixel. Based on this soft mask, we develop a new objective function with inverse temperature to search for optimal perturbations in CFRs. Extensive experiments are conducted on CIFAR-10 and ILSVRC2012, which demonstrate the effectiveness, including attack success rate, imperceptibility,and transferability.

EI-MTD:Moving Target Defense for Edge Intelligence against Adversarial Attacks

With the boom of edge intelligence, its vulnerability to adversarial attacks becomes an urgent problem. The so-called adversarial example can fool a deep learning model on the edge node to misclassify. Due to the property of transferability, the adversary can easily make a black-box attack using a local substitute model. Nevertheless, the limitation of resource of edge nodes cannot afford a complicated defense mechanism as doing on the cloud data center. To overcome the challenge, we propose a dynamic defense mechanism, namely EI-MTD. It first obtains robust member models with small size through differential knowledge distillation from a complicated teacher model on the cloud data center. Then, a dynamic scheduling policy based on a Bayesian Stackelberg game is applied to the choice of a target model for service. This dynamic defense can prohibit the adversary from selecting an optimal substitute model for black-box attacks. Our experimental result shows that this dynamic scheduling can effectively protect edge intelligence against adversarial attacks under the black-box setting.