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Language is compositional; an instruction can ex- press multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that gen- eralizes to longer instructions and to spatial concept compositions never seen at training time. We propose to represent language- instructed spatial concepts with energy functions over relative object arrangements. A language parser maps instructions to corresponding energy functions and an open-vocabulary visual- language model grounds their arguments to relevant objects in the scene. We generate goal scene configurations by gradient descent on the sum of energy functions, one per language predi- cate in the instruction. Local vision-based policies then re-locate objects to the inferred goal locations. We test our model on es- tablished instruction-guided manipulation benchmarks, as well as benchmarks of compositional instructions we introduce. We show our model can execute highly compositional instructions zero-shot in simulation and in the real world. It outperforms language- to-action reactive policies and Large Language Model planners by a large margin, especially for long instructions that involve compositions of multiple spatial concepts. Simulation and real- world robot execution videos, as well as our code and datasets are publicly available on our website: https://ebmplanner.github.io. 

Due to the globalization of semiconductor manufacturing and test processes, the system-on-a-chip (SoC) designers no longer design the complete SoC and manufacture chips on their own. This outsourcing of the design and manufacturing of Integrated Circuits (ICs) has resulted in several threats, such as overproduction of ICs, sale of out-of-specification/rejected ICs, and piracy of Intellectual Properties (IPs). Logic locking has emerged as a promising defense strategy against these threats. However, various attacks about the extraction of secret keys have undermined the security of logic locking techniques. Over the years, researchers have proposed different techniques to prevent existing attacks. In this article, we propose a novel attack that can break any logic locking techniques that rely on the stored secret key. This proposed TAAL attack is based on implanting a hardware Trojan in the netlist, which leaks the secret key to an adversary once activated. As an untrusted foundry can extract the netlist of a design from the layout/mask information, it is feasible to implement such a hardware Trojan. All three proposed types of TAAL attacks can be used for extracting secret keys. We have introduced the models for both the combinational and sequential hardware Trojans that evade manufacturing tests. An adversary only needs to choose one hardware Trojan out of a large set of all possible Trojans to launch the TAAL attack. 

Logic Locking is a well-accepted protection technique to enable trust in the outsourced design and fabrication processes of integrated circuits (ICs) where the original design is modified by incorporating additional key gates in the netlist, resulting in a key-dependent functional circuit. The original functionality of the chip is recovered once it is programmed with the secret key, otherwise, it produces incorrect results for some input patterns. Over the past decade, different attacks have been proposed to break logic locking, simultaneously motivating researchers to develop more secure countermeasures. In this paper, we propose a novel stuck-at fault-based differential fault analysis (DFA) attack, which can be used to break logic locking that relies on a stored secret key. This proposed attack is based on self-referencing, where the secret key is determined by injecting faults in the key lines and comparing the response with its fault-free counterpart. A commercial ATPG tool can be used to generate test patterns that detect these faults, which will be used in DFA to determine the secret key. One test pattern is sufficient to determine one key bit, which results in at most |K| test patterns to determine the entire secret key of size |K|. The proposed attack is generic and can be extended to break any logic locked circuits. 

The implementation of cryptographic primitives in integrated circuits (ICs) continues to increase over the years due to the recent advancement of semiconductor manufacturing and reduction of cost per transistors. The hardware implementation makes cryptographic operations faster and more energy-efficient. However, various hardware attacks have been proposed aiming to extract the secret key in order to undermine the security of these primitives. In this paper, we focus on the widely used advanced encryption standard (AES) block cipher and demonstrate its vulnerability against tampering attack. Our proposed attack relies on implanting a hardware Trojan in the netlist by an untrusted foundry, which can design and implement such a Trojan as it has access to the design layout and mask information. The hardware Trojan's activation modifies a particular round's input data by preventing the effect of all previous rounds' key-dependent computation. We propose to use a sequential hardware Trojan to deliver the payload at the input of an internal round for achieving this modification of data. All the internal subkeys, and finally, the secret key can be computed from the observed ciphertext once the Trojan is activated. We implement our proposed tampering attack with a sequential hardware Trojan inserted into a 128-bit AES design from OpenCores benchmark suite and report the area overhead to demonstrate the feasibility of the proposed tampering attack. 

Ultra-short optical pulses in the ultraviolet (UV) region are of significant interest for combustion and reacting flow diagnostics, as most important chemical species have electronic resonance transitions in the UV region. Optical parametric amplifiers are typically used for frequency conversion of femtosecond (fs) pulses from near-IR to UV; however, their implementation for practical imaging applications is limited because of the low conversion efficiency and extreme sensitivity to ambient conditions. In this work, we report the implementation of direct-frequency-tripled, fs laser pulses from a tunable amplified laser system for high-resolution imaging of hydroxyl (OH) radical in flames. The fundamental laser output near 850 nm is frequency tripled to obtain approximately 283.3-nm UV radiation. OH planar laser-induced fluorescence (PLIF) imaging at 1 kHz is demonstrated in turbulent flames with image sheet heights in excess of 45 mm and a signal-to-noise ratio better than 25. These results represent over$3\times <\#comment/>$increase in the imaging dimensionality compared to traditional OPA-based systems. Additionally, the third-harmonic generation apparatus is compact, robust, and easy to operate while providing near-Gaussian beam profiles. Simple power scaling suggests another factor of 3 or more increase in sheet height can be achieved for kilohertz-rate practical combustion diagnostics applications.