Abstract: Methods and systems are provided for high-speed constrained motion planning. In one embodiment, a method includes computing, with a neural network trained on trajectories generated by a non-convex optimizer, a trajectory from one or more initial states of an autonomous system to one or more final states of the autonomous system, updating, with the non-convex optimizer, the trajectory according to kinematic limits and dynamic limits of the autonomous system to obtain a final trajectory, and automatically controlling the autonomous system from an initial state of the one or more initial states to a final state of the one or more final states according to the final trajectory. In this way, efficient and smooth trajectories can be rapidly computed for effective real-time control while accounting for obstacles and physical constraints of an autonomous system.

Abstract: Methods and systems are provided for high-speed constrained motion planning. In one embodiment, a method includes computing, with a neural network trained on trajectories generated by a non-convex optimizer, a trajectory from one or more initial states of an autonomous system to one or more final states of the autonomous system, updating, with the non-convex optimizer, the trajectory according to kinematic limits and dynamic limits of the autonomous system to obtain a final trajectory, and automatically controlling the autonomous system from an initial state of the one or more initial states to a final state of the one or more final states according to the final trajectory. In this way, efficient and smooth trajectories can be rapidly computed for effective real-time control while accounting for obstacles and physical constraints of an autonomous system.

Abstract: Methods and apparatus are provided for protecting against cross-site request forgeries (CSRFs) by requiring certain requests submitted to a computer server to include specific tokens. The requests involve modification of or access to protected data, and the tokens are inserted by a state machine into content from which the requests are initiated. For example, content that includes a form, a hyperlink, a scripted request or other control for initiating a follow-on request to the server is modified to include tokens. The state machine may scan the content in real time (e.g., as it is served) to identify these controls and to insert the tokens. Using a state machine allows the content to be streamed even as it is scanned, does not require construction of a representation of the content (e.g., a DOM tree), and avoids modifying any of the content other than to insert one or more tokens.

Abstract: Methods and apparatus are provided for protecting against cross-site request forgeries (CSRFs) by requiring certain requests submitted to a computer server to include specific tokens. The requests involve modification of or access to protected data, and the tokens are inserted by a state machine into content from which the requests are initiated. For example, content that includes a form, a hyperlink, a scripted request or other control for initiating a follow-on request to the server is modified to include tokens. The state machine may scan the content in real time (e.g., as it is served) to identify these controls and to insert the tokens. Using a state machine allows the content to be streamed even as it is scanned, does not require construction of a representation of the content (e.g., a DOM tree), and avoids modifying any of the content other than to insert one or more tokens.

Abstract: Techniques are disclosed for enhancing the security of a web application by using input filtering. An input filter may be configured to process untrusted input data, character by character, and to replace certain characters in text-based input with visually similar characters. This approach may be used to block a specified list of “triggering” characters as they come in and replace them with characters similar in appearance but without the syntactic meaning that triggers an attack or otherwise exploits a vulnerability in a web-application.