Yuan Ding

Ke Li, Jianfei Yang, Luyao Zhang et al.

Unmanned aerial vehicles (UAVs) are increasingly used in inspection, search and rescue, environmental monitoring, and emergency response. However, most UAV applications still rely on pre-defined command sequences or task-specific pipelines, where developers manually connect perception, planning, flight control, simulation, logging, and safety modules. This limits the flexibility, reproducibility, and extensibility of autonomous aerial systems. This paper presents AerialClaw, an open-source software framework that enables UAVs to operate as decision-making aerial agents rather than merely command-following platforms. Given a natural-language mission, AerialClaw allows an LLM-based agent to understand the task, maintain context, invoke executable aerial skills, observe perception and runtime feedback, and iteratively update its decisions in a closed loop. The framework adopts a modular brain-skill-runtime architecture, combining hard skills for atomic UAV operations, Markdown-based soft skills for reusable task strategies, document-driven agent state and capability boundaries, memory-driven reflection, safety-oriented runtime validation, and platform-agnostic execution adapters. AerialClaw supports lightweight mock execution, PX4 SITL with Gazebo, and AirSim-based simulation, together with a web console, pluggable model backends, example missions, simulation assets, and staged deployment scripts. By combining standardized aerial skills, document-driven agent state, memory, and closed-loop LLM decision-making, AerialClaw provides a reproducible and extensible open-source framework for building UAV systems that can interpret missions, make decisions, execute skills, and adapt their behavior from feedback.

Rui Zhang, Jian Liu, Yuan Ding et al.

In S&P '21, Jia et al. proposed a new concept/mechanism named proof-of-learning (PoL), which allows a prover to demonstrate ownership of a machine learning model by proving integrity of the training procedure. It guarantees that an adversary cannot construct a valid proof with less cost (in both computation and storage) than that made by the prover in generating the proof. A PoL proof includes a set of intermediate models recorded during training, together with the corresponding data points used to obtain each recorded model. Jia et al. claimed that an adversary merely knowing the final model and training dataset cannot efficiently find a set of intermediate models with correct data points. In this paper, however, we show that PoL is vulnerable to ``adversarial examples''! Specifically, in a similar way as optimizing an adversarial example, we could make an arbitrarily-chosen data point ``generate'' a given model, hence efficiently generating intermediate models with correct data points. We demonstrate, both theoretically and empirically, that we are able to generate a valid proof with significantly less cost than generating a proof by the prover.