Karthik Dharmarajan

24 papers A* 3A 2Misc 2Journal 13Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
CoRR
Yanzhe Lyu, Chen Geng, Karthik Dharmarajan, Yunzhi Zhang, Hadi Alzayer, Shangzhe Wu, Jiajun Wu
2025 J jnl
CoRR
Karthik Dharmarajan, Wenlong Huang, Jiajun Wu, Li Fei-Fei, Ruohan Zhang
2024 A conf
IROS
Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski, Ken Goldberg
2024 J jnl
CoRR
Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski, Ken Goldberg
2024 conf
Robotics: Science and Systems
Lawrence Yunliang Chen, Karthik Dharmarajan, Kush Hari, Chenfeng Xu, Quan Vuong, Ken Goldberg
2024 J jnl
CoRR
Lawrence Yunliang Chen, Kush Hari, Karthik Dharmarajan, Chenfeng Xu, Quan Vuong, Ken Goldberg
2024 J jnl
CoRR
Qinxi Yu, Masoud Moghani, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg
2024 A* conf
ICRA
Qinxi Yu, Masoud Moghani, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg
2024 Misc conf
CoRL
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
2024 J jnl
CoRR
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
2024 conf
ISMR
Kush Hari, Hansoul Kim, Will Panitch, Kishore Srinivas, Vincent Schorp, Karthik Dharmarajan, Shreya Ganti, Tara Sadjadpour, Ken Goldberg
2024 J jnl
CoRR
Kush Hari, Hansoul Kim, Will Panitch, Kishore Srinivas, Vincent Schorp, Karthik Dharmarajan, Shreya Ganti, Tara Sadjadpour, Ken Goldberg
2023 conf
ISMR
Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Thomas Low, Danyal Fer, Ken Goldberg
2023 A* conf
ICRA
Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg
2023 A conf
IROS
Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan, Edith LLontop, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg
2023 J jnl
CoRR
Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan, Edith LLontop, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg
2023 J jnl
CoRR
Kaiyuan Chen, Kush Hari, Rohil Khare, Charlotte Le, Trinity Chung, Jaimyn Drake, Karthik Dharmarajan, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg
2023 A* conf
ICRA
Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Victor Mayoral Vilches, Nikhil Jha, Hugo Zhan, Edith LLontop, Derek Xu, Camilo Buscaron, John Kubiatowicz, Ion Stoica, Joseph Gonzalez, Ken Goldberg
2023 J jnl
J. Medical Robotics Res.
Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Masoud Moghani, Qinxi Yu, Kush Hari, Thomas Low, Danyal Fer, Animesh Garg, Ken Goldberg
2022 conf
CASE
Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg
2022 J jnl
CoRR
Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg
2022 Misc conf
CoRL
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
2022 J jnl
CoRR
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
2022 J jnl
CoRR
Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Victor Mayoral Vilches, Hugo Zhan, Derek Xu, Ramtin Ghassemi, John Kubiatowicz, Ion Stoica, Joseph Gonzalez, Ken Goldberg
redb/extractors/pe_extractors/pe_signature_old.py
← Index redb/extractors/pe_extractors/pe_signature_old.py python
import inspect
import pefile

from hashlib import md5, sha1, sha256

from asn1crypto import cms, pem, x509, core

from redb.extractors.enum import Tag
from redb.extractors.pe_extractor import PEExtractor
from redb.models.dataclasses import PECertificate, PESigner


class PESignatureExtractor(PEExtractor):
    """
    RFC 3161 - Internet X.509 Public Key Infrastructure Time-Stamp Protocol (TSP)
    Section 2.4.2 defines the TSTInfo structure.
    https://tools.ietf.org/html/rfc3161#section-2.4.2

    Microsoft Authenticode Time Stamping Specification
    https://download.microsoft.com/download/9/c/5/9c5b2167-8017-4bae-9fde-d599bac8184a/Authenticode_PE.docx
    """

    def __init__(
        self,
        filepath,
        log,
        index_prefix=None,
        elastic_index=None,
        known_benign=False,
        known_malicious=False,
        pe=None,
    ):
        super().__init__(
            filepath,
            log,
            index_prefix,
            elastic_index,
            known_benign,
            known_malicious,
            pe,
        )
        self.elastic_index = self.index_prefix + "-pe_signature"
        self.log.debug(inspect.currentframe().f_code.co_name)

    def tag(self):
        return Tag.PE_SIGNATURE.value

    @staticmethod
    def _extract_certificate_info(cert_data):
        # self.log.debug(inspect.currentframe().f_code.co_name)

        certificate = x509.Certificate.load(cert_data)
        certificate_serial_number = format(certificate.serial_number, "x").upper()
        grouped_serial_number = ":".join(
            [
                certificate_serial_number[i : i + 2]
                for i in range(0, len(certificate_serial_number), 2)
            ]
        )
        return PECertificate(
            _id=format(certificate.serial_number, "x").upper(),
            certificate_serial_number=grouped_serial_number,
            certificate_issuer=certificate.issuer.human_friendly,
            certificate_subject=certificate.subject.human_friendly,
            certificate_valid_from=certificate["tbs_certificate"]["validity"][
                "not_before"
            ].native.strftime("%Y-%m-%d %H:%M:%S"),
            certificate_valid_to=certificate["tbs_certificate"]["validity"][
                "not_after"
            ].native.strftime("%Y-%m-%d %H:%M:%S"),
            certificate_thumbprint=sha1(cert_data).hexdigest().upper(),
            certificate_md5=md5(cert_data).hexdigest().upper(),
            certificate_sha256=sha256(cert_data).hexdigest().upper(),
        )

    @staticmethod
    def _parse_microsoft_time_stamp(ts_token):
        class TSTInfo(core.Sequence):
            _fields = [
                ("version", core.Integer),
                ("policy_id", core.ObjectIdentifier),
                ("message_imprint", core.Sequence),
                ("serial_number", core.Integer),
                ("gen_time", core.GeneralizedTime),
                ("accuracy", core.Sequence, {"optional": True}),
                ("ordering", core.Boolean, {"optional": True}),
                ("nonce", core.Integer, {"optional": True}),
                ("tsa", core.Sequence, {"optional": True}),
                ("extensions", core.Sequence, {"optional": True}),
            ]

        # The content should be SignedData
        signed_data = ts_token["content"]

        # The actual timestamp should be in the encapContentInfo
        encap_content_info = signed_data["encap_content_info"]
        tst_info = TSTInfo.load(encap_content_info["content"])

        # Extract the genTime field from TSTInfo, type(genTime): <class 'datetime.datetime'>
        gen_time = tst_info["gen_time"].native

        return gen_time

    def _extract_signer_info(self, signer):
        self.log.debug(inspect.currentframe().f_code.co_name)
        signing_time = None

        for attr_set in [signer["signed_attrs"], signer["unsigned_attrs"]]:
            if attr_set:
                for attribute in attr_set:
                    attr_type = attribute["type"].dotted
                    if attr_type == "1.2.840.113549.1.9.5":  # signingTime
                        signing_time = attribute["values"][0].native
                        break
                    elif (
                        attr_type == "1.3.6.1.4.1.311.3.2.1"
                        or attr_type == "1.3.6.1.4.1.311.3.3.1"
                    ):  # microsoft_time_stamp_token
                        try:
                            ts_token = attribute["values"][0].native
                            signing_time = self._parse_microsoft_time_stamp(ts_token)
                            self.log.debug(
                                f"Signing Time from Microsoft Time Stamp Token: {signing_time}"
                            )
                        except Exception as e:
                            self.log.error(
                                f"Error parsing Microsoft Time Stamp Token: {e}"
                            )
                            self.log.error("Token structure:", attribute["values"][0])
                    elif attr_type == "1.2.840.113549.1.9.6":  # counterSignature
                        counter_sig_values = attribute["values"]
                        for counter_sig_value in counter_sig_values:
                            try:
                                counter_sig_info = cms.SignerInfo.load(
                                    counter_sig_value.native
                                )
                                cs_signed_attrs = counter_sig_info["signed_attrs"]
                                for cs_attr in cs_signed_attrs:
                                    cs_attr_type = cs_attr["type"].dotted
                                    if (
                                        cs_attr_type == "1.2.840.113549.1.9.5"
                                    ):  # signingTime
                                        signing_time = cs_attr["values"][0].native
                                        self.log.debug(
                                            "Signing Time (from countersignature):",
                                            signing_time,
                                        )
                                        break
                                if signing_time:
                                    break
                            except Exception as e:
                                self.log.error(
                                    f"Error processing countersignature: {e}"
                                )
                    if signing_time:
                        break
            if signing_time:
                break
        signer_serial_number = format(
            signer["sid"].native["serial_number"], "x"
        ).upper()
        grouped_serial_number = " ".join(
            [
                signer_serial_number[i : i + 2]
                for i in range(0, len(signer_serial_number), 2)
            ]
        )
        return PESigner(
            # this is to avoid duplicate _id with the Signer certificate used to sign as they are in the same ES index
            _id=format(signer["sid"].native["serial_number"], "x").upper()
            + signer["digest_algorithm"]["algorithm"].native,
            signer_serial_number=grouped_serial_number,
            signer_digest_algorithm=signer["digest_algorithm"]["algorithm"].native,
            signer_signature_algorithm=signer["signature_algorithm"][
                "algorithm"
            ].native,
            signing_time=(
                signing_time.strftime("%Y-%m-%d %H:%M:%S") if signing_time else None
            ),
            # "countersigners": extract_countersigners(signer), # TODO: Implement this
        )

    def _extract_signature_info(self):
        self.log.debug(inspect.currentframe().f_code.co_name)
        address = self.pe.OPTIONAL_HEADER.DATA_DIRECTORY[
            pefile.DIRECTORY_ENTRY["IMAGE_DIRECTORY_ENTRY_SECURITY"]
        ].VirtualAddress
        size = self.pe.OPTIONAL_HEADER.DATA_DIRECTORY[
            pefile.DIRECTORY_ENTRY["IMAGE_DIRECTORY_ENTRY_SECURITY"]
        ].Size

        addr_8 = address + 8
        signature_data = bytes(
            self.pe.write()[addr_8 : addr_8 + size]  # noqa E203
        )  # Ensure this is a bytes object
        if pem.detect(signature_data):
            signature_data = pem.unarmor(signature_data)

        content_info = cms.ContentInfo.load(signature_data)
        signed_data = content_info["content"]

        certificates = signed_data["certificates"]
        signers = signed_data["signer_infos"]

        certificates_list = []
        for cert in certificates:
            cert_info = self._extract_certificate_info(cert.chosen.dump())
            certificates_list.append(cert_info)

        signer_info_list = []
        for signer in signers:
            signer_info = self._extract_signer_info(signer)
            signer_info_list.append(signer_info)

        return certificates_list, signer_info_list

    def extract(self):
        try:
            self.log.debug(inspect.currentframe().f_code.co_name)
            if self._is_signed():
                certificates_list, signers_list = self._extract_signature_info()
                # self.export_to_elastic([PECodeSigning(certificates_list, signers_list)])
                self.export_to_elastic(certificates_list, Tag.PE_CERTIFICATE.value)
                self.export_to_elastic(signers_list, Tag.PE_SIGNER.value)
            return True
        except Exception as e:
            self.log.error(f"Error extracting PE Signature: {e}")
            return None