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Unitree G1 humanoid robot security vulnerabilities and non-consensual telemetry

arxiv.org
2 points·by lqr·il y a 8 mois·0 comments

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lqr
·il y a 11 mois·discuss
The mathematical field of Differential Geometry can answer this question precisely: https://en.wikipedia.org/wiki/Geodesic#Affine_geodesics

An oblate spheroid is an example of a Riemannian manifold: a smooth object that looks like a plane (or, in general, any ℝ^n) locally, and has a way to measure angles between vectors in that local plane.

All Riemannian manifolds have an object called the Levi-Cevita connection, which defines how vectors in the local plane (tangent space) most naturally map to vectors in other tangent spaces in the immediate neighborhood.

Standing at a point on the Earth and looking in a certain direction gives us 1) a point on the manifold, and 2) a direction in that point's tangent space.

We then take an infinitesimally small step forward, and apply the Levi-Cevita connection to get from the old tangent space to the (infinitesimally nearby) new tangent space, and repeat. This defines an ordinary differential equation. Integrating the differential equation gives us a curve through the manifold.

Within some neighborhood of the initial point, this curve is a geodesic, i.e. the shortest path between the initial point and all subsequent points on the curve. This matches our typical intuition of "straight".

(Disclaimer: I am currently learning about this topic, but am not an expert.)

edit: https://en.wikipedia.org/wiki/Geodesics_on_an_ellipsoid goes into some interesting specifics about the results of this process on ellipsoids.
lqr
·il y a 12 mois·discuss
In this example, random numbers provoked the worst case too often. However, in other situations random numbers are "too nice". For example, a random matrix with independent identically-distributed zero-mean entries is overwhelmingly likely to be well-conditioned, have no repeated eigenvalues, etc. Testing numerical algorithms on random data alone is a bad idea.
lqr
·l’année dernière·discuss
For math and writing, we still have in-class exams as an LLM-free evaluation tool.

I wish there was some way to do the same for programming. Imagine a classroom full of machines with no internet connection, just a compiler and some offline HTML/PDF documentation of languages and libraries.
lqr
·l’année dernière·discuss
This paper may be interesting to you. It touches on several of the topics you mentioned:

https://www.science.org/doi/10.1126/scirobotics.abm6597