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As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation identification require manipulation of the object, either by the robot or a human. While recent works have addressed predicting articulation types from visual observations alone, they often assume prior knowledge of category-level kinematic motion models or sequence of observations where the articulated parts are moving according to their kinematic constraints. In this work, we propose FormNet, a neural network that identifies the articulation mechanisms between pairs of object parts from a single frame of an RGB-D image and segmentation masks. The network is trained on 100k synthetic images of 149 articulated objects from 6 categories. Synthetic images are rendered via a photorealistic simulator with domain randomization. Our proposed model predicts motion residual flows of object parts, and these flows are used to determine the articulation type and parameters. The network achieves an articulation type classification accuracy of 82.5% on novel object instances in trained categories. Experiments also show how this method enables generalization to novel categories and can be applied to real-world images without fine-tuning. 

We describe version 2.0 of our benchmarking framework, PhishBench. With the addition of the ability to dynamically load features, metrics, and classifiers, our new and improved framework allows researchers to rapidly evaluate new features and methods for machine-learning based phishing detection. Researchers can compare under identical circumstances their contributions with numerous built-in features, ranking methods, and classifiers used in the literature with the right evaluation metrics. We will demonstrate PhishBench 2.0 and compare it against at least two other automated ML systems. 

Phishing is a serious challenge that remains largely unsolved despite the efforts of many researchers. In this paper, we present datasets and tools to help phishing researchers. First, we describe our efforts on creating high quality, diverse and representative email and URL/website datasets for phishing and making them publicly available. Second, we describe PhishBench, a benchmarking framework, which automates the extraction of more than 200 features, implements more than 30 classifiers, and 12 evaluation metrics, for detection of phishing emails, websites and URLs. Using PhishBench, the research community can easily run their models and benchmark their work against the work of others, who have used common dataset sources for emails (Nazario, SpamAssassin, WikiLeaks, etc.) and URLs (PhishTank, APWG, Alexa, etc.).