Stable dynamic systems enable robotic systems to plan and execute complex geometric motions in unstructured environments. However, in certain scenarios, such as precision assembly tasks, the constrained operational workspace of robotic arms, along with the presence of obstacles, may lead to unintended collisions. Furthermore, motion precision plays a crucial role in determining the success rate of such tasks. To address these challenges, we propose a novel Safe-Critical Dynamic System (SC-DS) framework. The SC-DS framework consists of a stable dynamic system and an obstacle avoidance controller. The stable dynamic system is formulated in a parametric nonlinear form, which enhances performance in terms of accuracy. Additionally, control barrier functions (CBF), corresponding to complex constraint spaces, are learned from demonstration data. By utilizing these learned CBFs, an obstacle avoidance controller is designed to ensure that the system trajectory remains within the learned safety boundaries. Moreover, the controller adaptively extends the effective range of control inputs, thus mitigating replication errors due to input limitations. Experimental results, both in simulation and with a physical robot, demonstrate that the SC-DS framework effectively reproduces trajectories with both stability and safety, outperforming existing methods in terms of overall task performance.Note to Practitioners—This study is motivated by the need to develop a safer and more precise skill-learning framework for practical applications, such as service robots and assembly robots. We propose the SC-DS framework, which integrates the challenges of uncertain environments into the learning of precise motion skills, ensuring both accuracy and safety in trajectory generation. This framework is particularly suitable for applications requiring strict performance and safety standards. By incorporating safety constraints directly into the learning process, our method provides a robust solution that effectively addresses robot-environment interactions, including obstacles, disturbances, and varying conditions. Our research enhances the reliability of dynamic system-based learning frameworks and offers practical tools for real-world applications, ensuring robots perform tasks efficiently while maintaining safety. Practitioners can leverage this framework to improve safety and maintain high-precision skill learning, ensuring effective handling of real-world challenges.

Cloud-based machine learning services offer significant advantages but also introduce the risk of tampering with cloud-deployed deep neural network (DNN) models. Black-box integrity verification (BIV) allows model owners and end-users to determine if a cloud-deployed DNN model has been tampered with by examining only the top-1 label responses. Fingerprinting generates fingerprint samples to query the model, achieving BIV with no impact on the model's accuracy. In this paper, we present BIVBench, the first comprehensive benchmark for BIV of DNN models. BIVBench covers 16 types of model modifications, providing extensive coverage of practical modification scenarios. Our analysis reveals that existing fingerprinting methods, which are typically focused on significant tampering, lack the sensitivity needed to effectively detect subtle yet common and potentially severe modifications. To address this limitation, we propose MiSentry (Model Integrity Sentry), a novel fingerprinting method that leverages meta-learning. MiSentry strategically incorporates a few subtly modified models into the meta-learning model zoo and maximizes the divergence of output predictions between the target model and the modified models in the model zoo to generate highly sensitive, generalizable, and effective fingerprint samples. Extensive evaluations using BIVBench demonstrate that MiSentry outperforms existing state-of-the-art methods overall and significantly surpasses them in detecting subtle modifications. The BIVBench and supplementary materials are available at: https://github.com/CGCL-codes/BIVBench.

Deep learning-based image embedding methods are typically designed for natural images and may not work for chart images due to their homogeneous regions, which lack variations to hide data both robustly and imperceptibly. In this paper, we propose ChartStamp, the first chart embedding method that is robust to real-world printing and displaying (printed on paper and displayed on screen, respectively, and then captured with a camera) while maintaining a good perceptual quality. ChartStamp hides 100, 1,000, or 10,000 raw bits into a chart image, depending on the designated robustness to printing, displaying, or JPEG. To ensure perceptual quality, it introduces a new perceptual model to guide embedding to insensitive regions of a chart image and a smoothness loss to ensure smoothness of the embedding residual in homogeneous regions. ChartStamp applies a distortion layer approximating designated real-world manipulations to train a model robust to these manipulations. Our experimental evaluation indicates that ChartStamp achieves the robustness and embedding capacity on chart images similar to their state-of-the-art counterparts on natural images. Our user studies indicate that ChartStamp achieves better perceptual quality than existing robust chart embedding methods and that our perceptual model outperforms the existing perceptual model.

In the cloud era, a large amount of data is uploaded to and processed by public clouds. The risk of privacy leakage has become a major concern for cloud users. Cloud-based video surveillance requires motion detection, which may reveal the privacy of people in a surveillance video. Privacy-preserving video surveillance allows motion detection while protecting privacy. The existing scheme [ 25 ], designed to detect motion on encrypted and H.264-compressed surveillance videos, does not work well on more advanced video compression schemes such as HEVC. In this article, we propose the first motion detection method on encrypted and HEVC-compressed videos. It adopts a novel approach that exploits inter-prediction reference relationships among coding blocks to detect motion regions. The partition pattern and the number of coding bits of each detection block used in prior art are also used to help detect motion regions. Spatial and temporal consistency of a moving object and Kalman filtering are applied to segment connected/merged motion regions, remove noise and background motions, and refine trajectories and shapes of detected moving objects. Experimental results indicate that our detection method achieves high detection recall, precision, and F1-score for surveillance videos of both high and low resolutions with various scenes. It has a similarly high detection accuracy on encrypted and HEVC-compressed videos as that of the existing motion detection method [ 25 ] on encrypted and H.264-compressed videos. Our proposed method incurs no bit-rate overhead and has a very low computational complexity for both motion detection and encryption of HEVC videos.

In practice, charts are widely stored as bitmap images. Although easily consumed by humans, they are not convenient for other uses. For example, changing the chart style or type or a data value in a chart image practically requires creating a completely new chart, which is often a time-consuming and error-prone process. To assist these tasks, many approaches have been proposed to automatically extract information from chart images with computer vision and machine learning techniques. Although they have achieved promising preliminary results, there are still a lot of challenges to overcome in terms of robustness and accuracy. In this paper, we propose a novel alternative approach called Chartem to address this issue directly from the root. Specifically, we design a data-embedding schema to encode a significant amount of information into the background of a chart image without interfering human perception of the chart. The embedded information, when extracted from the image, can enable a variety of visualization applications to reuse or repurpose chart images. To evaluate the effectiveness of Chartem, we conduct a user study and performance experiments on Chartem embedding and extraction algorithms. We further present several prototype applications to demonstrate the utility of Chartem.

We established ISDI over China, which integrated meteorological drought indices, satellite-based drought indices, biophysical data and elevation data to produce a 1-km regional drought condition map at 16-day intervals. The purpose of ISDI was to comprehensively and quantitatively characterize the drought degree and spatial distribution. ISDI has high modeling accuracy in China, a vast country of complex topography, eco-geographical region and land cover types. The ISDI results showed good performance for typical drought and flood events detection over China during 2000 to 2013. ISDI has good potential application for near real-time drought monitoring in China although there are still some work to be done to improve and evaluate its accuracy and the effectiveness.