Imin Kao

59 papers A* 20A 11C 2Journal 20Unranked 4
YearRankTypeTitle / Venue / Authors
2025 J jnl
CoRR
Vahid Danesh, Paul Arauz, Maede Boroji, Andrew Zhu, Mia Cottone, Elaine Gould, Fazel A. Khan, Imin Kao
2024 A conf
IROS
Maede Boroji, Vahid Danesh, Imin Kao, Amin Fakhari
2024 J jnl
CoRR
Maede Boroji, Vahid Danesh, Imin Kao, Amin Fakhari
2024 J jnl
IEEE Trans. Instrum. Meas.
Guangyu He, Amin Fakhari, Fazel Khan, Imin Kao
2023 conf
ICINCO (2)
Carlos Saldarriaga, José J. Patiño, Carlos G. Helguero, Imin Kao
2022 J jnl
IEEE Trans. Robotics
Carlos Saldarriaga, Nilanjan Chakraborty, Imin Kao
2021 A* conf
ICRA
Carlos Saldarriaga, Imin Kao
2019 C conf
ISRR
Carlos Saldarriaga, Nilanjan Chakraborty, Imin Kao
2018 conf
ISER
Carlos Saldarriaga, Nilanjan Chakraborty, Imin Kao
2016 ch.
Springer Handbook of Robotics, 2nd Ed.
Imin Kao, Kevin M. Lynch, Joel W. Burdick
2016 J jnl
J. Intell. Robotic Syst.
Amin Fakhari, Mehdi Keshmiri, Imin Kao
2016 J jnl
Adv. Robotics
Amin Fakhari, Mehdi Keshmiri, Imin Kao, Shahram Hadian Jazi
2013 conf
URAI
Jun Nishiyama, Imin Kao, Makoto Kaneko
2012 J jnl
IEEE Trans. Robotics
Ixchel Georgina Ramirez-Alpizar, Mitsuru Higashimori, Makoto Kaneko, Chia-Hung Dylan Tsai, Imin Kao
2012 J jnl
Adv. Robotics
Chia-Hung Dylan Tsai, Imin Kao, Mitsuru Higashimori, Makoto Kaneko
2011 A* conf
ICRA
Jun Nishiyama, Chia-Hung Dylan Tsai, Matt Quigley, Imin Kao, Akihide Shibata, Mitsuru Higashimori, Makoto Kaneko
2011 J jnl
IEEE Trans. Biomed. Eng.
Nobuyuki Tanaka, Mitsuru Higashimori, Makoto Kaneko, Imin Kao
2011 A* conf
ICRA
Ixchel Georgina Ramirez-Alpizar, Mitsuru Higashimori, Makoto Kaneko, Chia-Hung Dylan Tsai, Imin Kao
2010 A conf
IROS
C. D. Tsai, Imin Kao, Akihide Shibata, Kayo Yoshimoto, Mitsuru Higashimori, Makoto Kaneko
2010 A conf
IROS
Chia-Hung Dylan Tsai, Jun Nishiyama, Imin Kao, Mitsuru Higashimori, Makoto Kaneko
2009 A conf
IROS
Chia-Hung Dylan Tsai, Imin Kao, Kayo Yoshimoto, Mitsuru Higashimori, Makoto Kaneko
2009 A* conf
ICRA
Chia-Hung Dylan Tsai, Imin Kao
2008 A conf
IROS
Chia-Hung Dylan Tsai, Imin Kao, Naoki Sakamoto, Mitsuru Higashimori, Makoto Kaneko
2008 ch.
Springer Handbook of Robotics
Imin Kao, Kevin M. Lynch, Joel W. Burdick
2007 J jnl
Adv. Robotics
Paolo Tiezzi, Imin Kao, Gabriele Vassura
2007 J jnl
IEEE Trans. Robotics
Paolo Tiezzi, Imin Kao
2006 A* conf
ICRA
Paolo Tiezzi, Imin Kao
2006 A conf
IROS
Paolo Tiezzi, Imin Kao, Gabriele Vassura
2005 A conf
IROS
Xiaolin Li, Imin Kao
2005 J jnl
Int. J. Manuf. Technol. Manag.
Liqun Zhu, Imin Kao
2005 J jnl
Concurr. Eng. Res. Appl.
Nicholas Xydas, David Tsi, Vladimir Gurevich, Mark Krichever, Imin Kao
2004 A* conf
ICRA
Yanmei Li, Imin Kao
2004 J jnl
IEEE Trans. Robotics Autom.
Imin Kao, Fuqian Yang
2003 J jnl
IEEE Robotics Autom. Mag.
Imin Kao, Shih-Feng Chen, Yanmei Li, Geng Wang
2003 A* conf
ICRA
Yanmei Li, Imin Kao
2002 A* conf
ICRA
Shih-Feng Chen, Imin Kao
2002 A* conf
ICRA
Chintien Huang, Wei-Heng Hung, Imin Kao
2002 A* conf
ICRA
Yanmei Li, Shih-Feng Chen, Imin Kao
2001 A* conf
ICRA
Shih-Feng Chen, Yanmei Li, Imin Kao
2001 A* conf
ICRA
Yanmei Li, Imin Kao
2001 C conf
ISRR
Chintien Huang, Imin Kao
2001 A* conf
ICRA
Yanmei Li, Imin Kao
2000 J jnl
Int. J. Robotics Res.
Shih-Feng Chen, Imin Kao
2000 A conf
IROS
Shih-Feng Chen, Imin Kao
2000 A conf
IROS
Nicholas Xydas, Imin Kao
2000 A* conf
ICRA
Geng Wang, Imin Kao
2000 A* conf
ICRA
Shih-Feng Chen, Imin Kao
2000 A* conf
ICRA
Nicholas Xydas, Milind Bhagavat, Imin Kao
1999 J jnl
Int. J. Robotics Res.
Nicholas Xydas, Imin Kao
1998 A conf
IROS
Nicholas Xydas, Imin Kao
1998 A conf
IROS
Shih-Feng Chen, Imin Kao
1997 J jnl
IEEE Trans. Robotics Autom.
Imin Kao, Mark R. Cutkosky, Roland S. Johansson
1995 conf
IROS (2)
Ji Li, Imin Kao
1994 A* conf
ICRA
Ying Xue, Imin Kao
1994 A* conf
ICRA
Imin Kao
1993 J jnl
Int. J. Robotics Res.
Imin Kao, Mark R. Cutkosky
1990 A* conf
ICRA
Robert D. Howe, Nicolas Popp, Prasad Akella, Imin Kao, Mark R. Cutkosky
1989 J jnl
IEEE Trans. Robotics Autom.
Mark R. Cutkosky, Imin Kao
1988 A* conf
ICRA
Robert D. Howe, Imin Kao, Mark R. Cutkosky
CLAUDE.md
← Index CLAUDE.md markdown
# CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

## Project Overview

REDB (RationalEdge Samples DB) is a malware analysis framework that extracts features from PE (Portable Executable) files and stores them in ClickHouse database for analysis. It provides a comprehensive set of extractors for analyzing binary samples including PE headers, imports, resources, signatures, and decompiled code.

## Common Commands

### Development Setup
```bash
source venv/bin/activate

# Install dependencies
pip install -r requirements.txt

# Run the main application
python start.py --path /path/to/samples --repo sample_repo --index_prefix redb
```

### Analysis Commands
```bash
# Process a single file
python start.py --path /path/to/binary --repo test --index_prefix redb

# Process from S3 storage
python start.py --s3 --repo malpedia --index_prefix redb

# Process from S3 storage but only a subset of a specific repository
python start.py --s3 --repo "vx-itw" --s3-notes "ITW.0138" --index_prefix redb

# Run only decompilation
python start.py --path /path/to/binary --repo test --index_prefix redb --decompile

# Run specific modules
python start.py --path /path/to/binary --repo test --index_prefix redb --modules "BasicPropertiesExtractor,PEFeaturesExtractor"

# Run as Nomad job (for containerized deployment)
python start.py --nomad-job
```

### Testing
There are no formal unit tests. Testing is done by running the extractors on sample files in the `test_files/` directory.

## Architecture Overview

### Core Components

1. **Ingestor (`redb/ingestor.py`)**: Main orchestrator that handles file processing, multiprocessing, and coordinates extractors
2. **Extractors (`redb/extractors/`)**: Modular analysis components that extract specific features
3. **Database Exporters (`redb/extractors/database_exporters.py`)**: Handle data export to ClickHouse
4. **Settings (`redb/settings/`)**: Configuration management for database connections

### Extractor Architecture

All extractors inherit from the base `Extractor` class and implement:
- `extract()`: Main analysis logic
- `prepare_export_data()`: Format data for database export
- `get_clickhouse_table()`: Return target table name

Available extractors:
- **General**: BasicPropertiesExtractor, HashExtractor, DIEExtractor, CAPAExtractor
- **PE-specific**: PEFeaturesExtractor, PEImportExtractor, PEResourceExtractor, PEOverlayExtractor, PESectionExtractor, PESignatureExtractor, PEDotNetExtractor, PEInconstistencyTestsExtractor, PEExtraFindings
- **ELF**: ELFFeaturesExtractor, ELFSegmentExtractor, ELFSectionExtractor, ELFDependencyExtractor, ELFSymbolExtractor, ELFImportExtractor, ELFExportExtractor, ELFRelocationExtractor, ELFNotesExtractor
- **Mach-O**: MachOFeaturesExtractor, MachOSegmentExtractor, MachOImportExtractor, MachOExportExtractor, MachODylibExtractor, MachOSignatureExtractor
- **APK**: APKFeaturesExtractor, APKManifestExtractor, APKPermissionsExtractor, APKSignatureExtractor, APKDexExtractor, APKResourceExtractor, APKNativeLibExtractor, APKInconsistencyTestsExtractor
- **Decompilation**: DecompileBinja, DecompileAPK

### Database Schema

The project uses a comprehensive ClickHouse schema defined in `redb/redb_schema.yml` with tables for:
- Basic properties (`redb_basic_properties`)
- PE features (`redb_pe_features`, `redb_pe_imports`, `redb_pe_sections`, etc.)
- Decompiled code (`code_binja_decompiled_functions_content`, `code_binja_decompiled_functions_references`)
- CAPA analysis (`redb_capa`, `redb_capa_capabilities`)

Full schema documentation is available in `docs/database_schema.md`.

### Processing Modes

1. **Analysis Mode**: Extracts features using selected modules
2. **Decompile Mode**: Uses Binary Ninja for code decompilation
3. **S3 Mode**: Fetches samples from S3 storage based on catalog queries
4. **Nomad Job Mode**: Processes single jobs using environment variables for containerized deployment

### Configuration

Environment variables are used for configuration:
- Database connection: `CLICKHOUSE_HOST`, `CLICKHOUSE_PORT`, `CLICKHOUSE_USER`, `CLICKHOUSE_PASSWORD`
- S3 storage: `S3_ENDPOINT`, `S3_ACCESS_KEY`, `S3_SECRET_KEY`
- Processing: `BATCH_SIZE`, `REDB_TIMEOUT`, `DECOMPILE_WORKER_TIMEOUT`
- Nomad jobs: `JOB_ID`, `S3_KEY`, `S3_BUCKET`, `WORKER_TYPE`, `CALLBACK_URL`, `ANALYSIS_MODULES`

## Important Implementation Details

### Multiprocessing
- Uses `spawn` method for multiprocessing to avoid memory issues
- Worker processes have timeout handlers to prevent hanging
- Supports both batch processing and streaming processing modes

### Memory Management
- Implements aggressive garbage collection between batches
- Monitors swap usage and restarts worker pools when needed
- Kills stuck processes automatically

### Error Handling
- Comprehensive logging with per-file context
- Graceful handling of corrupted or unsupported files
- Automatic retry logic for database operations

### Security Context
This is a defensive security tool for malware analysis. It processes potentially malicious files in a controlled environment to extract features for detection and analysis purposes.

## Development Notes

- The codebase is optimized for processing large batches of malware samples
- Extractors are designed to be modular and can be run individually or in combination
- Database schema supports both normalized and denormalized views for different query patterns
- S3 integration allows for scalable processing of large malware repositories