Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household, healthcare, and industrial environments. In this paper, we propose GraphGarment, a novel approach that models garment dynamics based on robot control inputs and applies the learned dynamics model to facilitate garment manipulation tasks such as hanging. Specifically, we use graphs to represent the interactions between the robot end-effector and the garment. GraphGarment uses a graph neural network (GNN) to learn a dynamics model that can predict the next garment state given the current state and input action in simulation. To address the substantial sim-to-real gap, we propose a residual model that compensates for garment state prediction errors, thereby improving real-world performance. The garment dynamics model is then applied to a model-based action sampling strategy, where it is utilized to manipulate the garment to a reference pre-hanging configuration for garment-hanging tasks. We conducted four experiments using six types of garments to validate our approach in both simulation and real-world settings. In simulation experiments, GraphGarment achieves better garment state prediction performance, with a prediction error 0.46 cm lower than the best baseline. Our approach also demonstrates improved performance in the garment-hanging simulation experiment—with enhancements of 12%, 24%, and 10%, respectively. Moreover, real-world robot experiments confirm the robustness of sim-to-real transfer, with an error increase of 0.17 cm compared to simulation results. Supplementary material is available at: https://sites.google.com/view/graphgarment.

The growing number of data privacy breaches and associated financial losses have driven the demand for private database queries. Clients typically submit queries that involve both search and computation operations, such as counting students under a certain age or calculating the BMI of employees above a specific age. Existing protocols often face limitations due to reliance on specific-purpose encryption schemes or multiple communication rounds between clients and servers. In this work, we present a unified framework utilizing fully homomorphic encryption techniques to efficiently and privately process queries with search and computation operations. Our contributions include a homomorphic encryption-based private comparison algorithm, called the layered comparison algorithm, which achieves a 2.6-6.6X performance improvement compared to algorithms from prior work; a fast Fourier transform-based preprocessing method enabling accurate large integer arithmetic operations in the encrypted domain; and a scalable database encoding method. Evaluation results demonstrate the practicality of our system, as it processes an aggregated query for a 1k-row encrypted database in approximately 4.53 seconds.

Abstract We introduce an interpolation attack using the Moebius Transform. This can reduce the time complexity to get a linear system of equations for specified intermediate state bits, which is general to cryptanalysis of some ciphers with update function of low algebraic degree. Along this line, we perform an interpolation attack against Elephant-Delirium, a round 2 submission of the ongoing national institute of standards and technology (NIST) lightweight cryptography project. This is the first third-party cryptanalysis on this cipher. Moreover, we promote the interpolation attack by applying it to the Farfalle pseudo-random constructions Kravatte and Xoofff. Our attacks turn out to be the most efficient method for these ciphers thus far.

Parkinson's disease is a neurodegenerative disease that affects millions of people around the world and cannot be cured fundamentally. Automatic identification of early Parkinson's disease on feature data sets is one of the most challenging medical tasks today. Many features in these datasets are useless or suffering from problems like noise, which affect the learning process and increase the computational burden. To ensure the optimal classification performance, this article proposes a hybrid feature selection algorithm based on an improved discrete artificial bee colony algorithm to improve the efficiency of feature selection. The algorithm combines the advantages of filters and wrappers to eliminate most of the uncorrelated or noisy features and determine the optimal subset of features. In the filter, three different variable ranking methods are employed to pre-rank the candidate features, then the population of artificial bee colony is initialized based on the significance degree of the re-rank features. In the wrapper part, the artificial bee colony algorithm evaluates individuals (feature subsets) based on the classification accuracy of the classifier to achieve the optimal feature subset. In addition, for the first time, we introduce a strategy that can automatically select the best classifier in the search framework more quickly. By comparing with several publicly available datasets, the proposed method achieves better performance than other state-of-the-art algorithms and can extract fewer effective features.