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Shixin Li

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
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3

NeurIPS Conference 2025 Conference Paper

Consensus-Robust Transfer Attacks via Parameter and Representation Perturbations

  • Shixin Li
  • Zewei Li
  • Xiaojing Ma
  • Xiaofan Bai
  • Pingyi Hu
  • Dongmei Zhang
  • Bin Zhu

Adversarial examples crafted on one model often exhibit poor transferability to others, hindering their effectiveness in black-box settings. This limitation arises from two key factors: (i) \emph{decision-boundary variation} across models and (ii) \emph{representation drift} in feature space. We address these challenges through a new perspective that frames transferability for \emph{untargeted attacks} as a \emph{consensus-robust optimization} problem: adversarial perturbations should remain effective across a neighborhood of plausible target models. To model this uncertainty, we introduce two complementary perturbation channels: a \emph{parameter channel}, capturing boundary shifts via weight perturbations, and a \emph{representation channel}, addressing feature drift via stochastic blending of clean and adversarial activations. We then propose \emph{CORTA} (COnsensus--Robust Transfer Attack), a lightweight attack instantiated from this robust formulation using two first-order strategies: (i) sensitivity regularization based on the squared Frobenius norm of logits’ Jacobian with respect to weights, and (ii) Monte Carlo sampling for blended feature representations. Our theoretical analysis provides a certified lower bound linking these approximations to the robust objective. Extensive experiments on CIFAR-100 and ImageNet show that CORTA significantly outperforms state-of-the-art transfer-based methods---including ensemble approaches---across CNN and Vision Transformer targets. Notably, CORTA achieves a \emph{19. 1 percentage-point gain in transfer success rate over the best prior method} while using only a single surrogate model.

ICRA Conference 2025 Conference Paper

Gassidy: Gaussian Splatting SLAM in Dynamic Environments

  • Long Wen 0003
  • Shixin Li
  • Yu Zhang 0182
  • Yuhong Huang
  • Jianjie Lin
  • Fengjunjie Pan
  • Zhenshan Bing
  • Alois C. Knoll

3D Gaussian Splatting (3DGS) allows flexible adjustments to scene representation, enabling continuous optimization of scene quality during dense visual simultaneous localization and mapping (SLAM) in static environments. However, 3DGS faces challenges in handling environmental disturbances from dynamic objects with irregular movement, leading to degradation in both camera tracking accuracy and map reconstruction quality. To address this challenge, we develop an RGB-D dense SLAM which is called Gaussian Splatting SLAM in Dynamic Environments (Gassidy). This approach calculates Gaussians to generate rendering loss flows for each environmental component based on a designed photometricgeometric loss function. To distinguish and filter environmental disturbances, we iteratively analyze rendering loss flows to detect features characterized by changes in loss values between dynamic objects and static components. This process ensures a clean environment for accurate scene reconstruction. Compared to state-of-the-art SLAM methods, experimental results on open datasets show that Gassidy improves camera tracking precision by up to 97. 9 % and enhances map quality by up to 6 %. Video of experiments is available here: https://www.wixsite.com.com/wen-Gassidy.

ICRA Conference 2025 Conference Paper

Safety-Critical Control with Saliency Detection for Mobile Robots in Dynamic Multi-Obstacle Environments

  • Yu Zhang 0182
  • Long Wen 0003
  • Lin Hong
  • Liding Zhang
  • Qun Guo
  • Shixin Li
  • Zhenshan Bing
  • Alois C. Knoll

This paper proposes a novel dual-filter architecture utilizing RGB-D camera data and dynamic control barrier functions (D-CBFs) for real-time obstacle avoidance in unstructured environments. The proposed method efficiently handles static, suddenly appearing, and dynamic obstacles, maintaining consistent computational performance across diverse scenarios. To achieve this, two key challenges must be addressed. First, the substantial volume of pixel and depth map data requires robust, real-time processing for efficient D-CBF construction. Second, constructing D-CBFs for each obstacle in multi-obstacle scenarios increases optimization solver time. To address these challenges, we adapt the concept of salient object detection (SOD), proposing an enhanced FastSOD (E-FastSOD) method for rapid risk area identification. This approach rapidly filters out low-risk areas, while high-risk regions are mathematically represented utilizing the proposed enhanced minimal bounding circle (E-MBC) technique. We differentiate static and dynamic obstacles by comparing current and previous MBC states, employing Kalman filtering for obstacle state prediction. This setup enables efficient online D-CBF construction for each MBC, balancing computational speed with accurate obstacle representation. Subsequently, the second filter establishes buffer zones around established D-CBFs, activating only those corresponding to zones the robot actually enters, rather than all D-CBFs to increase real-time performance. We prove the system's safety and asymptotic stabilization under this architecture. Simulated and real-world experiments validate our method, demonstrating an equipped mobile robot's ability to accomplish tasks while ensuring safety across diverse, unknown scenarios.

v2026.09.13