Dayuan Chen

Dayuan Chen, Kai Tang, Yukuan Zhang et al.

This paper presents a phase-conditioned, force-aware framework for robust deformable object manipulation. Standard imitation learning policies such as Action Chunking with Transformers (ACT) rely on a Markovian assumption at inference, causing state aliasing when visually similar observations require contradictory actions and preventing autonomous recovery from execution failures. We address this with a closed-loop hierarchical architecture. A FiLM-conditioned ACT encoder modulates feature extraction based on the current task phase, enabling a single unified policy to produce phase-specific behaviors while sharing action dynamics across phases. A multi-modal phase predictor fusing visual, force, and pose feedback estimates the phase in real time, detecting contact failures that are invisible to vision alone and autonomously triggering recovery trajectories. The system is completed by a hybrid impedance controller for compliant execution and a haptic teleoperation interface for force-aware data collection. Ablation studies show that FiLM-based modulation significantly outperforms both unconditioned and token-level conditioned baselines, and t-SNE analysis confirms that FiLM induces well-separated, phase-specific feature representations. Validated on hanging and removing a T-shirt with dual arms, the closed-loop system improves the hanging success rate from 56\% to 87\% through autonomous error recovery. Code and videos: https://leledeyuan00.github.io/phaser/

Dayuan Chen, Jian Zhang, Yuqian Lv et al.

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.