Yuan Chen

Yu'an Chen, Guangda Chen, Lifan Pan et al.

In this paper, we propose a map-based end-to-end DRL approach for three-dimensional (3D) obstacle avoidance in a partially observed environment, which is applied to achieve autonomous navigation for an indoor mobile robot using a depth camera with a narrow field of view. We first train a neural network with LSTM units in a 3D simulator of mobile robots to approximate the Q-value function in double DRQN. We also use a curriculum learning strategy to accelerate and stabilize the training process. Then we deploy the trained model to a real robot to perform 3D obstacle avoidance in its navigation. We evaluate the proposed approach both in the simulated environment and on a robot in the real world. The experimental results show that the approach is efficient and easy to be deployed, and it performs well for 3D obstacle avoidance with a narrow observation angle, which outperforms other existing DRL-based models by 15.5% on success rate.

Wenna Song, Jiang Ming, Lin Jiang et al.

Limited by the small keyboard, most mobile apps support the automatic login feature for better user experience. Therefore, users avoid the inconvenience of retyping their ID and password when an app runs in the foreground again. However, this auto-login function can be exploited to launch the so-called "data-clone attack": once the locally-stored, auto-login depended data are cloned by attackers and placed into their own smartphones, attackers can break through the login-device number limit and log in to the victim's account stealthily. A natural countermeasure is to check the consistency of devicespecific attributes. As long as the new device shows different device fingerprints with the previous one, the app will disable the auto-login function and thus prevent data-clone attacks. In this paper, we develop VPDroid, a transparent Android OS-level virtualization platform tailored for security testing. With VPDroid, security analysts can customize different device artifacts, such as CPU model, Android ID, and phone number, in a virtual phone without user-level API hooking. VPDroid's isolation mechanism ensures that user-mode apps in the virtual phone cannot detect device-specific discrepancies. To assess Android apps' susceptibility to the data-clone attack, we use VPDroid to simulate data-clone attacks with 234 most-downloaded apps. Our experiments on five different virtual phone environments show that VPDroid's device attribute customization can deceive all tested apps that perform device-consistency checks, such as Twitter, WeChat, and PayPal. 19 vendors have confirmed our report as a zero-day vulnerability. Our findings paint a cautionary tale: only enforcing a device-consistency check at client side is still vulnerable to an advanced data-clone attack.

Guangda Chen, Lifan Pan, Yu'an Chen et al.

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to predict proper steering actions of a robot from its egocentric local occupancy maps, which accommodate various sensors and fusion algorithms. The trained neural network is then transferred and executed on a real-world mobile robot to guide its local path planning. The new approach is evaluated both qualitatively and quantitatively in simulation and real-world robot experiments. The results show that the map-based end-to-end navigation model is easy to be deployed to a robotic platform, robust to sensor noise and outperforms other existing DRL-based models in many indicators.