Weiwei Shang

Hai Zhu, Zhaoqing Yang, Weiwei Shang et al.

Natural language processing models are vulnerable to adversarial examples. Previous textual adversarial attacks adopt gradients or confidence scores to calculate word importance ranking and generate adversarial examples. However, this information is unavailable in the real world. Therefore, we focus on a more realistic and challenging setting, named hard-label attack, in which the attacker can only query the model and obtain a discrete prediction label. Existing hard-label attack algorithms tend to initialize adversarial examples by random substitution and then utilize complex heuristic algorithms to optimize the adversarial perturbation. These methods require a lot of model queries and the attack success rate is restricted by adversary initialization. In this paper, we propose a novel hard-label attack algorithm named LimeAttack, which leverages a local explainable method to approximate word importance ranking, and then adopts beam search to find the optimal solution. Extensive experiments show that LimeAttack achieves the better attacking performance compared with existing hard-label attack under the same query budget. In addition, we evaluate the effectiveness of LimeAttack on large language models, and results indicate that adversarial examples remain a significant threat to large language models. The adversarial examples crafted by LimeAttack are highly transferable and effectively improve model robustness in adversarial training.

Fengguan Li, Yifan Ma, Chen Qian et al.

Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this problem, this paper proposes TransDex, a 3D visuo-tactile fusion motor policy based on point cloud reconstruction pre-training. Specifically, we first propose a self-supervised point cloud reconstruction pre-training approach based on Transformer. This method accurately recovers the 3D structure of objects from interactive point clouds of dexterous hands, even when random noise and large-scale masking are added. Building on this, TransDex is constructed in which perceptual encoding adopts a fine-grained hierarchical scheme and multi-round attention mechanisms adaptively fuse features of the robotic arm and dexterous hand to enable differentiated motion prediction. Results from transparent object manipulation experiments conducted on a real robotic system demonstrate that TransDex outperforms existing baseline methods. Further analysis validates the generalization capabilities of TransDex and the effectiveness of its individual components.

Chenyu Su, Weiwei Shang, Chen Qian et al.

Semantics-driven 3D spatial constraints align highlevel semantic representations with low-level action spaces, facilitating the unification of task understanding and execution in robotic manipulation. The synergistic reasoning of Multimodal Large Language Models (MLLMs) and Vision Foundation Models (VFMs) enables cross-modal 3D spatial constraint construction. Nevertheless, existing methods have three key limitations: (1) coarse semantic granularity in constraint modeling, (2) lack of real-time closed-loop planning, (3) compromised robustness in semantically diverse environments. To address these challenges, we propose ReSem3D, a unified manipulation framework for semantically diverse environments, leveraging the synergy between VFMs and MLLMs to achieve fine-grained visual grounding and dynamically constructs hierarchical 3D spatial constraints for real-time manipulation. Specifically, the framework is driven by hierarchical recursive reasoning in MLLMs, which interact with VFMs to automatically construct 3D spatial constraints from natural language instructions and RGB-D observations in two stages: part-level extraction and region-level refinement. Subsequently, these constraints are encoded as real-time optimization objectives in joint space, enabling reactive behavior to dynamic disturbances. Extensive simulation and real-world experiments are conducted in semantically rich household and sparse chemical lab environments. The results demonstrate that ReSem3D performs diverse manipulation tasks under zero-shot conditions, exhibiting strong adaptability and generalization. Code and videos are available at https://github.com/scy-v/ReSem3D and https://resem3d.github.io.

Hao Wang, Haoyuan He, Weiwei Shang et al.

Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond point-to-point motion planning, this work presents temporal logic guided optimization of motion primitives, namely PIBB-TL algorithm, for complex manipulation tasks with user preferences. In particular, weighted truncated linear temporal logic (wTLTL) is incorporated in the PIBB-TL algorithm, which not only enables the encoding of complex tasks that involve a sequence of logically organized action plans with user preferences, but also provides a convenient and efficient means to design the cost function. The black-box optimization is then adapted to identify optimal shape parameters of DMPs to enable motion planning of robotic systems. The effectiveness of the PIBB-TL algorithm is demonstrated via simulation and experime