C. David Remy

82 papers A* 10A 15Journal 44Unranked 13
YearRankTypeTitle / Venue / Authors
2026 J jnl
IEEE Robotics Autom. Lett.
Korbinian Griesbauer, Davide Calzolari, Maximilian Raff, C. David Remy, Alin Albu-Schäffer
2025 A* conf
ICRA
Robin Bendfeld, C. David Remy
2025 J jnl
CoRR
Korbinian Griesbauer, Davide Calzolari, Maximilian Raff, C. David Remy, Alin Albu-Schäffer
2025 J jnl
CoRR
Iskandar Khemakhem, Dominik Tschemernjak, Maximilian Raff, C. David Remy
2025 conf
L4DC
Mohamed Abou-Taleb, Maximilian Raff, Kathrin Flaßkamp, C. David Remy
2024 J jnl
CoRR
Robin Bendfeld, C. David Remy
2024 J jnl
CoRR
Henrik Ebel, Jan van Delden, Timo Lüddecke, Aditya Borse, Rutwik Gulakala, Marcus Stoffel, Manish Yadav, Merten Stender, Leon Schindler, Kristin Miriam de Payrebrune, Maximilian Raff, C. David Remy, Benedict Röder, Peter Eberhard
2024 J jnl
CoRR
Mohamed Abou-Taleb, Maximilian Raff, Kathrin Flaßkamp, C. David Remy
2024 J jnl
Adv. Intell. Syst.
Tianxiang Dai, Nikola Velimirovic, Philipp Zalles, Daniel Bruder, Keith Buffinton, R. Brent Gillespie, C. David Remy
2024 conf
BioRob
Robin Bendfeld, C. David Remy
2024 conf
ECC
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2024 J jnl
CoRR
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2024 J jnl
IEEE Trans. Haptics
Thomas E. Augenstein, C. David Remy, Edward S. Claflin, Rajiv Ranganathan, Chandramouli Krishnan
2024 J jnl
Int. J. Robotics Res.
C. David Remy, Zachary Brei, Daniel Bruder, Jan Remy, Keith W. Buffinton, R. Brent Gillespie
2024 J jnl
CoRR
Maximilian Raff, Kathrin Flaßkamp, C. David Remy
2024 J jnl
CoRR
Kristin Miriam de Payrebrune, Kathrin Flaßkamp, Tom Ströhla, Thomas Sattel, Dieter Bestle, Benedict Röder, Peter Eberhard, Sebastian Peitz, Marcus Stoffel, Rutwik Gulakala, Aditya Borse, Meike Wohlleben, Walter Sextro, Maximilian Raff, C. David Remy, Manish Yadav, Merten Stender, Jan van Delden, Timo Lüddecke, Sabine C. Langer, Julius Schultz, Christopher Blech
2023 A conf
IROS
Nelson Rosa Jr., Bassel Katamish, Maximilian Raff, C. David Remy
2023 J jnl
CoRR
Nelson Rosa Jr., Bassel Katamish, Maximilian Raff, C. David Remy
2023 A* conf
ICRA
Robin Bendfeld, C. David Remy
2023 A conf
IROS
Robin Bendfeld, C. David Remy
2023 A conf
IROS
Simon Eckstein, Bent Leudesdorff, Christophe Maufroy, Urs Schneider, C. David Remy
2022 J jnl
CoRR
Maximilian Raff, Nelson Rosa Jr., C. David Remy
2022 J jnl
IEEE Robotics Autom. Lett.
Maximilian Raff, Nelson Rosa Jr., C. David Remy
2022 A conf
IROS
Maximilian Raff, Nelson Rosa Jr., C. David Remy
2022 J jnl
Sci. Robotics
Kimberly A. Ingraham, C. David Remy, Elliott J. Rouse
2021 J jnl
Int. J. Robotics Res.
Audrey Sedal, Alan Wineman, R. Brent Gillespie, C. David Remy
2021 J jnl
IEEE Trans. Robotics
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2021 J jnl
CoRR
Kevin Green, Nils Smit-Anseeuw, Rodney Gleason, C. David Remy
2021 J jnl
IEEE Robotics Autom. Lett.
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2020 J jnl
IEEE Robotics Autom. Mag.
Kimberly A. Ingraham, Elliott J. Rouse, C. David Remy
2020 J jnl
CoRR
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2020 conf
BioRob
Kimberly A. Ingraham, C. David Remy, Elliott J. Rouse
2019 J jnl
IEEE Trans. Biomed. Eng.
Edward P. Washabaugh, Jane Guo, Chih-Kang Chang, C. David Remy, Chandramouli Krishnan
2019 J jnl
Auton. Robots
Wyatt Felt, Maria J. Telleria, Thomas F. Allen, Gabriel Hein, Jonathan Pompa, Kevin Albert, C. David Remy
2019 J jnl
CoRR
Audrey Sedal, Alan Wineman, R. Brent Gillespie, C. David Remy
2019 J jnl
Frontiers Neurorobotics
Diego Torricelli, Jan F. Veneman, José González-Vargas, Katja D. Mombaur, C. David Remy
2019 A* conf
ICRA
Ethan Schumann, Nils Smit-Anseeuw, Petr Zaytsev, Rodney Gleason, K. Alex Shorter, C. David Remy
2019 conf
Robotics: Science and Systems
Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan
2019 J jnl
CoRR
Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan
2019 A* conf
ICRA
Daniel Bruder, C. David Remy, Ram Vasudevan
2019 J jnl
IEEE Robotics Autom. Lett.
Nils Smit-Anseeuw, C. David Remy, Ram Vasudevan
2019 J jnl
CoRR
Nils Smit-Anseeuw, C. David Remy, Ram Vasudevan
2018 J jnl
Frontiers Robotics AI
Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis
2018 J jnl
CoRR
Daniel Bruder, Audrey Sedal, Ram Vasudevan, C. David Remy
2018 J jnl
IEEE Robotics Autom. Lett.
Daniel Bruder, Audrey Sedal, Ram Vasudevan, C. David Remy
2018 J jnl
CoRR
Daniel Bruder, C. David Remy, Ram Vasudevan
2018 J jnl
IEEE Robotics Autom. Lett.
Zhenyu Gan, Ziyuan Jiao, C. David Remy
2018 J jnl
IEEE Trans. Robotics
Emma Treadway, Zhenyu Gan, C. David Remy, R. Brent Gillespie
2017 J jnl
Int. J. Robotics Res.
C. David Remy
2017 conf
Robotics: Science and Systems
Wyatt Felt, Maria J. Telleria, Thomas F. Allen, Gabriel Hein, Jonathan Pompa, Kevin Albert, C. David Remy
2017 conf
ICORR
Jeffrey R. Koller, C. David Remy, Daniel P. Ferris
2017 J jnl
CoRR
Audrow Nash, Yu-Ming Chen, Nils Smit-Anseeuw, Petr Zaytsev, C. David Remy
2017 A conf
IROS
Nils Smit-Anseeuw, Rodney Gleason, Petr Zaytsev, C. David Remy
2017 J jnl
IEEE Robotics Autom. Lett.
Nils Smit-Anseeuw, Rodney Gleason, Ram Vasudevan, C. David Remy
2017 conf
GlobalSIP
Kimberly A. Ingraham, Daniel P. Ferris, C. David Remy
2017 conf
ICORR
Kimberly A. Ingraham, Daniel P. Ferris, C. David Remy
2016 conf
Robotics: Science and Systems
Jeffrey R. Koller, Deanna H. Gates, Daniel P. Ferris, C. David Remy
2016 conf
AIM
Kevin Green, Nils Smit-Anseeuw, Rodney Gleason, C. David Remy
2016 A* conf
ICRA
Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy
2016 J jnl
Int. J. Robotics Res.
Weitao Xi, Yevgeniy Yesilevskiy, C. David Remy
2016 A conf
IROS
Wyatt Felt, Michelle Suen, C. David Remy
2015 A* conf
ICRA
Yevgeniy Yesilevskiy, Weitao Xi, C. David Remy
2015 A conf
IROS
Zhenyu Gan, Katelyn Fry, R. Brent Gillespie, C. David Remy
2015 A conf
IROS
Tom Cnops, Zhenyu Gan, C. David Remy
2014 A conf
IROS
Zhenyu Gan, C. David Remy
2014 A conf
IROS
Weitao Xi, C. David Remy
2014 A conf
IROS
Wyatt Felt, C. David Remy
2013 J jnl
J. Field Robotics
Felipe A. W. Belo, Andreas Birk, Christopher Brunskill, Frank Kirchner, Vaios Lappas, C. David Remy, Stefano Roccella, Claudio Rossi, Antti Tikanmäki, Gianfranco Visentin
2013 A* conf
ICRA
Lionel Hertig, Dominik Schindler, Michael Blösch, C. David Remy, Roland Siegwart
2012 A* conf
ICRA
C. David Remy, Keith W. Buffinton, Roland Siegwart
2012 conf
Robotics: Science and Systems
Marco Hutter, Mark A. Hoepflinger, Christian Gehring, Michael Blösch, C. David Remy, Roland Siegwart
2012 J jnl
Autom.
C. David Remy, Marco Hutter, Mark A. Hoepflinger, Michael Blösch, Christian Gehring, Roland Siegwart
2012 conf
Robotics: Science and Systems
Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart
2012 J jnl
J. Field Robotics
Felipe A. W. Belo, Andreas Birk, Christopher Brunskill, Frank Kirchner, Vaios Lappas, C. David Remy, Stefano Roccella, Claudio Rossi, Antti Tikanmäki, Gianfranco Visentin
2011 A conf
IROS
C. David Remy, Keith W. Buffinton, Roland Siegwart
2011 A conf
IROS
Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart
2011 J jnl
Ind. Robot
C. David Remy, Oliver Baur, Martin Latta, Andi Lauber, Marco Hutter, Mark A. Hoepflinger, Cédric Pradalier, Roland Siegwart
2010 A* conf
ICRA
Mark A. Höpflinger, C. David Remy, Marco Hutter, Luciano Spinello, Roland Siegwart
2010 A* conf
ICRA
C. David Remy, Marco Hutter, Roland Siegwart
2010 A conf
IROS
Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart
2010 J jnl
Int. J. Robotics Res.
C. David Remy, Keith W. Buffinton, Roland Siegwart
2009 A conf
IROS
Marco Hutter, C. David Remy, Roland Siegwart
redb/extractors/js_extractors/js_context.py
← Index redb/extractors/js_extractors/js_context.py python
"""Per-sample shared state for the JavaScript extractor pipeline.

A `JSContext` is built exactly once per JS sample (in `workers.py`) and threaded
into every extractor that runs against that sample. It owns the disk read, the
decoded source text, the line-split cache, the Shannon text-entropy figure, the
shared `scan_source()` results, and the pyjsparser AST. Each of those is
computed lazily through `cached_property` so an extractor that doesn't need a
particular artefact does not pay for it.

Without this object, every JS extractor instance redoes the same disk read,
decode, scan, and (for any consumer) AST parse. With it, every extractor
shares one set of results.

`JSExtractor.__init__` accepts the context via a `context=` kwarg; if absent
(e.g. unit tests instantiating an extractor directly with `source=...`) it
builds a fresh context from the constructor arguments. Either path produces a
fully-populated context, so extractor code can always rely on
`self._context.scan` / `self._context.ast` / etc.
"""

from __future__ import annotations

import math
from collections import Counter
from dataclasses import dataclass
from functools import cached_property
from typing import Any, Dict, List, Optional

import chardet

from redb.extractors.js_extractors.js_patterns import scan_source


def decode_source(raw_bytes: bytes) -> str:
    """Decode raw JS bytes to text, honouring BOMs and falling back to chardet.

    Mirrors the historical `JSExtractor._decode_source` logic so existing tests
    continue to round-trip identically.
    """
    if not raw_bytes:
        return ""

    if raw_bytes[:3] == b"\xef\xbb\xbf":
        return raw_bytes[3:].decode("utf-8", errors="replace")
    if raw_bytes[:2] in (b"\xff\xfe", b"\xfe\xff"):
        return raw_bytes.decode("utf-16", errors="replace")

    try:
        return raw_bytes.decode("utf-8")
    except UnicodeDecodeError:
        pass

    try:
        detected = chardet.detect(raw_bytes)
        if detected and detected.get("encoding"):
            return raw_bytes.decode(detected["encoding"], errors="replace")
    except Exception:
        pass

    return raw_bytes.decode("latin-1", errors="replace")


def _text_entropy(text: str) -> float:
    """Shannon entropy of the character distribution of `text`, rounded to 4dp."""
    if not text:
        return 0.0
    counter = Counter(text)
    length = len(text)
    entropy = 0.0
    for count in counter.values():
        p = count / length
        if p > 0:
            entropy -= p * math.log2(p)
    return round(entropy, 4)


@dataclass
class JSContext:
    """Shared raw materials for one JS sample, consumed by every JS extractor.

    Cheap attributes (raw_bytes, source) are populated eagerly by the factory.
    Expensive ones (scan, ast) are cached_property — computed on first access
    and reused across every extractor that holds the same context.

    `content_type` is the magika label (e.g. `"javascript"`) carried alongside
    the source so the new code_text_content writer (and any future generic
    text-content writer) can record it without re-running magika. Defaults to
    `"javascript"` because by construction this context type is JS-specific;
    workers.py supplies the actual magika value when it builds the context.
    """

    filepath: str
    raw_bytes: bytes
    source: str
    log: Any = None
    content_type: str = "javascript"
    # Populated by JSStringsExtractor.extract() (the decoded/reconstructed
    # strings — hex/unicode/charcode/base64/concat unpacked into plaintext).
    # Read post-loop by the IOC plumbing in workers.py so any IOCs hidden
    # behind those encodings get scraped from the decoded form. Stays None
    # if JSStringsExtractor didn't run for this sample.
    decoded_strings: Optional[list] = None

    @cached_property
    def lines(self) -> List[str]:
        return self.source.splitlines() if self.source else []

    @cached_property
    def text_entropy(self) -> float:
        return _text_entropy(self.source)

    @cached_property
    def scan(self) -> Dict[str, Dict[str, object]]:
        """Result of running scan_source() exactly once over self.source."""
        return scan_source(self.source) if self.source else {}

    @cached_property
    def ast(self) -> Optional[Any]:
        """Lazy pyjsparser AST. Returns None if the parser is missing or fails.

        Extractors should treat None AST as "fall back to regex" — every
        AST-consuming extractor already handles that path.
        """
        if not self.source:
            return None
        try:
            import pyjsparser
            return pyjsparser.parse(self.source)
        except ImportError:
            if self.log is not None:
                self.log.debug("pyjsparser not installed, AST analysis skipped")
        except Exception as e:
            if self.log is not None:
                self.log.warning(f"AST parsing failed for {self.filepath}: {e}")
        return None

    @cached_property
    def deobfuscated(self) -> "tuple[Optional[str], Optional[str]]":
        """Run the configured JS deobfuscator (with jsbeautifier fallback) once
        per sample and cache the result. Returns `(text, normalizer_used)` or
        `(None, None)` if neither path produced output.

        Computed lazily on first access — samples whose pipeline never reads
        this don't pay the subprocess cost.
        """
        from redb.extractors.js_extractors.js_deobfuscator import deobfuscate
        return deobfuscate(self.source, self.log)

    @cached_property
    def scan_deobfuscated(self) -> Dict[str, Dict[str, object]]:
        """Result of running scan_source() exactly once over the deobfuscated
        text, keyed by PATTERNS only (FEATURE_PATTERNS are not consulted by
        the dual-pass consumers). Empty dict when there is no deobfuscated
        text or it equals the raw source.

        Two extractors consume the post-deobf API surface:
        `JSSuspiciousAPIsExtractor` (for revealed_by_deobf rows) and
        `JSDeobfuscationExtractor` (for the new_apis_found diff). Caching here
        means we scan the deobfuscated text once instead of twice per sample.
        """
        from redb.extractors.js_extractors.js_patterns import PATTERNS
        deobf_text, _ = self.deobfuscated
        if not deobf_text or deobf_text == self.source:
            return {}
        return scan_source(deobf_text, patterns=(PATTERNS,))

    @cached_property
    def xray(self):
        """Run @nodesecure/js-x-ray once per sample and cache the result.

        Returns an `XRayResult` (always — the function collapses every failure
        path to an empty result so callers don't have to special-case missing
        Node, missing package, timeouts, or parse errors). The
        `JSFeaturesExtractor` reads it for the obfuscator family name and for
        corroborating warning kinds; the heuristic falls back cleanly when
        `xray.obfuscator is None`.
        """
        from redb.extractors.js_extractors.js_xray import run
        return run(self.source, self.log)

    @classmethod
    def from_path(
        cls,
        filepath: str,
        log: Any = None,
        source: Optional[str] = None,
        raw_bytes: Optional[bytes] = None,
        content_type: str = "javascript",
    ) -> "JSContext":
        """Build a context from disk. `raw_bytes` and `source` are optional
        overrides — useful when the caller has already read or decoded the file.
        `content_type` is the magika label workers.py dispatched on; it lands
        on the context for the code_text_content writer to record.
        """
        if raw_bytes is None:
            with open(filepath, "rb") as f:
                raw_bytes = f.read()
        if source is None:
            source = decode_source(raw_bytes)
        return cls(
            filepath=filepath,
            raw_bytes=raw_bytes,
            source=source,
            log=log,
            content_type=content_type,
        )