Iori Yanokura

31 papers A* 4A 5B 3C 1Journal 10Unranked 8
YearRankTypeTitle / Venue / Authors
2026 conf
SII
Tasuku Makabe, Naoya Yamaguchi, Iori Yanokura, Kei Okada
2026 J jnl
Adv. Robotics
Kento Matsuo, Tasuku Makabe, Iori Yanokura, Kunio Kojima, Kei Okada, Masayuki Inaba
2026 conf
SII
Iori Yanokura, Kento Matsuo, Hirokazu Ishida, Sousuke Morita, Aoi Nakane, Naoya Yamaguchi, Tasuku Makabe, Kei Okada
2025 B conf
RO-MAN
Ayaha Nagata, Tomoka Sawada, Aiko Ichikura, Yoshiki Obinata, Naoaki Kanazawa, Tasuku Makabe, Iori Yanokura, Kei Okada
2025 B conf
RO-MAN
Tomoka Sawada, Aiko Ichikura, Iori Yanokura, Kei Okada, Masayuki Inaba
2025 J jnl
Adv. Robotics
Haruki Kozuka, Moju Zhao, Takuzumi Nishio, Iori Yanokura, Kento Kawaharazuka, Junichiro Sugihara, Kazuki Sugihara, Kei Okada, Masayuki Inaba
2025 J jnl
Adv. Robotics
Yoshiki Obinata, Kento Kawaharazuka, Naoaki Kanazawa, Naoya Yamaguchi, Naoto Tsukamoto, Iori Yanokura, Shingo Kitagawa, Kei Okada, Masayuki Inaba
2024 A conf
IROS
Hiroya Sato, Tasuku Makabe, Iori Yanokura, Naoya Yamaguchi, Kei Okada, Masayuki Inaba
2024 J jnl
CoRR
Hiroya Sato, Tasuku Makabe, Iori Yanokura, Naoya Yamaguchi, Kei Okada, Masayuki Inaba
2024 A* conf
ICRA
Aoi Nakane, Iori Yanokura, Shun Hasegawa, Naoya Yamaguchi, Kunio Kojima, Kei Okada, Masayuki Inaba
2023 B conf
RO-MAN
Aoi Nakane, Iori Yanokura, Aiko Ichikura, Kei Okada, Masayuki Inaba
2023 J jnl
CoRR
Yoshiki Obinata, Naoaki Kanazawa, Kento Kawaharazuka, Iori Yanokura, Soonhyo Kim, Kei Okada, Masayuki Inaba
2023 A conf
IROS
Yoshiki Obinata, Kento Kawaharazuka, Naoaki Kanazawa, Naoya Yamaguchi, Naoto Tsukamoto, Iori Yanokura, Shingo Kitagawa, Koki Shinjo, Kei Okada, Masayuki Inaba
2023 J jnl
CoRR
Yoshiki Obinata, Kento Kawaharazuka, Naoaki Kanazawa, Naoya Yamaguchi, Naoto Tsukamoto, Iori Yanokura, Shingo Kitagawa, Koki Shinjo, Kei Okada, Masayuki Inaba
2022 conf
SII
Iori Yanokura, Naoki Wake, Kazuhiro Sasabuchi, Riku Arakawa, Kei Okada, Jun Takamatsu, Masayuki Inaba, Katsushi Ikeuchi
2022 conf
Humanoids
Yutaro Matsuura, Naoki Hiraoka, Kunio Kojima, Iori Yanokura, Hiroki Yoshioka, Kei Okada, Masayuki Inaba
2021 conf
SII
Naoki Wake, Riku Arakawa, Iori Yanokura, Takuya Kiyokawa, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi
2021 A* conf
ICRA
Kosuke Takeuchi, Iori Yanokura, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2021 A conf
IROS
Kosuke Takeuchi, Iori Yanokura, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2021 J jnl
CoRR
Iori Yanokura, Naoki Wake, Kazuhiro Sasabuchi, Katsushi Ikeuchi, Masayuki Inaba
2021 A* conf
ICRA
Naoki Wake, Iori Yanokura, Kazuhiro Sasabuchi, Katsushi Ikeuchi
2020 J jnl
CoRR
Naoki Wake, Riku Arakawa, Iori Yanokura, Takuya Kiyokawa, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi
2020 J jnl
CoRR
Naoki Wake, Iori Yanokura, Kazuhiro Sasabuchi, Katsushi Ikeuchi
2019 conf
Humanoids
Yuki Asano, Shinsuke Nakashima, Iori Yanokura, Moritaka Onitsuka, Kento Kawaharazuka, Kei Tsuzuki, Yuya Koga, Yusuke Omura, Kei Okada, Masayuki Inaba
2019 A conf
IROS
Naoki Hiraoka, Masaki Murooka, Hideaki Ito, Iori Yanokura, Kei Okada, Masayuki Inaba
2018 A* conf
ICRA
Masaki Murooka, Shunichi Nozawa, Masahiro Bando, Iori Yanokura, Kei Okada, Masayuki Inaba
2018 C conf
IAS
Iori Yanokura, Masaki Murooka, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2017 J jnl
Adv. Robotics
Kentaro Wada, Makoto Sugiura, Iori Yanokura, Yuto Inagaki, Kei Okada, Masayuki Inaba
2017 conf
Humanoids
Masahiro Bando, Masaki Murooka, Iori Yanokura, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2016 A conf
IROS
Yuki Asano, Shinsuke Nakashima, Toyotaka Kozuki, Soichi Ookubo, Iori Yanokura, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
2016 conf
Humanoids
Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, Masaya Kawamura, Shinsuke Nakashima, Takeshi Katayama, Iori Yanokura, Toshinori Hirose, Kento Kawaharazuka, Shogo Makino, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
redb/extractors/macho_extractor.py
← Index redb/extractors/macho_extractor.py python
import logging
from abc import ABCMeta, abstractmethod
import inspect
import sys
import os

import machofile

from redb.extractors.extractor import Extractor

logger = logging.getLogger(__name__)


@abstractmethod
class MachOExtractor(Extractor, metaclass=ABCMeta):

    def __init__(
        self,
        filepath,
        log,
        exporters=None,
        index_prefix=None,
        elastic_index=None,
        known_benign=False,
        known_malicious=False,
        macho=None,
    ):
        # Read binary and parse machofile BEFORE calling super().__init__
        # This avoids reading the file twice
        with open(filepath, "rb") as f:
            binary_data = f.read()

        # Parse machofile with binary data
        self.macho = macho if macho else self._generate_machofile_object(binary_data)

        # Extract hashes from machofile to pass to parent
        precomputed_hashes = None
        if self.macho:
            try:
                general_info = self.macho.get_general_info()
                if general_info:
                    # For FAT binaries, get_general_info() returns dict with 'fat' key
                    # For single-arch, it returns the info directly
                    if 'fat' in general_info:
                        fat_info = general_info['fat']
                        precomputed_hashes = {
                            'MD5': fat_info.get('MD5'),
                            'SHA1': fat_info.get('SHA1'),
                            'SHA256': fat_info.get('SHA256'),
                        }
                    else:
                        precomputed_hashes = {
                            'MD5': general_info.get('MD5'),
                            'SHA1': general_info.get('SHA1'),
                            'SHA256': general_info.get('SHA256'),
                        }
            except Exception as e:
                logger.debug(f"Could not get hashes from machofile: {e}")

        super().__init__(
            filepath,
            log,
            exporters,
            index_prefix,
            elastic_index,
            known_benign,
            known_malicious,
            precomputed_hashes=precomputed_hashes,
        )

        # Store binary data so base class doesn't re-read
        self._binary_data = binary_data

    @property
    def binary(self):
        """Override to use already-read binary data."""
        return self._binary_data

    def _generate_machofile_object(self, binary_data):
        """Generate and parse a machofile object from binary data."""
        macho = None
        try:
            macho = machofile.UniversalMachO(data=binary_data)
            if not macho:
                raise Exception("Empty file?")

            # Parse the MachO object once during initialization
            macho.parse()

        except Exception as e:
            logger.error(f"Format error parsing MachO: {e}")
        return macho

    # def _is_macho_file(self):
    #     """Check if the file is a valid Mach-O binary."""
    #     try:
    #         if not self.macho:
    #             return False
            
    #         # For Universal/FAT binaries, check if any architecture is valid
    #         if hasattr(self.macho, 'is_fat') and self.macho.is_fat:
    #             return len(self.macho.architectures) > 0
    #         else:
    #             # Single architecture binary
    #             return hasattr(self.macho, 'macho') and self.macho.macho is not None
    #     except Exception as e:
    #         self.log.error(f"Error checking Mach-O file: {e}")
    #         return False

    def _is_signed(self):
        """Check if the Mach-O binary is code signed using new API."""
        try:
            if not self.macho:
                return False

            # Get architectures using new API
            architectures = self.macho.get_architectures()

            # For each architecture, check if signed
            for arch in architectures:
                try:
                    signature_info = self.macho.get_code_signature_info(arch=arch)
                    if signature_info and signature_info.get('signed', False):
                        return True
                except Exception:
                    continue

            return False
        except Exception as e:
            self.log.error(f"Error checking Mach-O signature: {e}")
            return False

    def _get_architectures(self):
        """Get list of architectures in the Mach-O binary using new API."""
        try:
            if not self.macho:
                return []

            # Use new API method
            architectures = self.macho.get_architectures()
            return architectures if architectures else []
        except Exception as e:
            self.log.error(f"Error getting architectures: {e}")
            return []

    # def _get_macho_for_arch(self, arch_name=None):
    #     """Get MachO instance for specific architecture or default."""
    #     try:
    #         if not self.macho:
    #             return None
            
    #         if hasattr(self.macho, 'is_fat') and self.macho.is_fat:
    #             if arch_name:
    #                 return self.macho.architectures.get(arch_name)
    #             else:
    #                 # Return first available architecture
    #                 return next(iter(self.macho.architectures.values())) if self.macho.architectures else None
    #         else:
    #             # Single architecture binary
    #             return self.macho.macho if hasattr(self.macho, 'macho') else None
    #     except Exception as e:
    #         self.log.error(f"Error getting MachO for architecture: {e}")
    #         return None

    # def _get_formatted_header_values(self, header):
    #     """Get both raw and human-readable header values."""
    #     try:
    #         macho_instance = self._get_macho_for_arch()
    #         if not macho_instance:
    #             return None
            
    #         # Parse the MachO if not already parsed
    #         if not hasattr(macho_instance, 'header') or not macho_instance.header:
    #             macho_instance.parse()
            
    #         # Get human-readable values using machofile's formatting methods
    #         magic_str = macho_instance.format_magic_value(header.get('magic', 0))
            
    #         # Simple CPU type mapping since CPU_TYPE_MAP is not exposed
    #         cputype = header.get('cputype', 0)
    #         if cputype == 0x7:
    #             cputype_str = "x86"
    #         elif cputype == 0x1000007:
    #             cputype_str = "x86_64"
    #         elif cputype == 0xC:
    #             cputype_str = "ARM"
    #         elif cputype == 0x100000C:
    #             cputype_str = "ARM 64-bit"
    #         else:
    #             cputype_str = str(cputype)
            
    #         cpusubtype_str = macho_instance.decode_cpusubtype(header.get('cputype', 0), header.get('cpusubtype', 0))
    #         filetype_str = macho_instance.format_file_type(header.get('filetype', 0))
    #         flags_str = macho_instance.decode_flags(header.get('flags', 0))
            
    #         return {
    #             'raw': {
    #                 'magic': header.get('magic', 0),
    #                 'cputype': header.get('cputype', 0),
    #                 'cpusubtype': header.get('cpusubtype', 0),
    #                 'filetype': header.get('filetype', 0),
    #                 'flags': header.get('flags', 0),
    #             },
    #             'formatted': {
    #                 'magic_str': magic_str,
    #                 'cputype_str': cputype_str,
    #                 'cpusubtype_str': cpusubtype_str,
    #                 'filetype_str': filetype_str,
    #                 'flags_str': flags_str,
    #             }
    #         }
    #     except Exception as e:
    #         self.log.error(f"Error formatting header values: {e}")
    #         return None