Tony Gao | Searcharxiv

arXiv2026

CIPHER: Cryptographic Insecurity Profiling via Hybrid Evaluation of Responses

Large language models (LLMs) are increasingly used to assist developers with code, yet their implementations of cryptographic functionality often contain exploitable flaws. Minor design choices (e.g., static initialization vectors or missing authentication) can silently invalidate security guarantees. We introduce CIPHER(Cryptographic Insecurity Profiling via Hybrid Evaluation of Responses), a benchmark for measuring cryptographic vulnerability incidence in LLM-generated Python code under controlled security-guidance conditions. CIPHER uses insecure/neutral/secure prompt variants per task, a cryptography-specific vulnerability taxonomy, and line-level attribution via an automated scoring pipeline. Across a diverse set of widely used LLMs, we find that explicit secure prompting reduces some targeted issues but does not reliably eliminate cryptographic vulnerabilities overall. The benchmark and reproducible scoring pipeline will be publicly released upon publication.

cs.CR↗

arXiv2025

Subsecond 3D Mesh Generation for Robot Manipulation

3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that aligns directly with how robots interact with the physical world, enabling core capabilities such as predicting stable grasps, detecting collisions, and simulating dynamics. Although automatic 3D mesh generation methods have shown promising progress in recent years, potentially offering a path toward real-time robot perception, two critical challenges remain. First, generating high-fidelity meshes is prohibitively slow for real-time use, often requiring tens of seconds per object. Second, mesh generation by itself is insufficient. In robotics, a mesh must be contextually grounded, i.e., correctly segmented from the scene and registered with the proper scale and pose. Additionally, unless these contextual grounding steps remain efficient, they simply introduce new bottlenecks. In this work, we introduce an end-to-end system that addresses these challenges, producing a high-quality, contextually grounded 3D mesh from a single RGB-D image in under one second. Our pipeline integrates open-vocabulary object segmentation, accelerated diffusion-based mesh generation, and robust point cloud registration, each optimized for both speed and accuracy. We demonstrate its effectiveness in a real-world manipulation task, showing that it enables meshes to be used as a practical, on-demand representation for robotics perception and planning.

cs.RO↗