Maarja Kruusmaa

65 papers A* 12A 3B 2C 1Misc 1Journal 29Unranked 17
YearRankTypeTitle / Venue / Authors
2025 A* conf
ICRA
Yuya Hamamatsu, Walid Remmas, Jaan Rebane, Maarja Kruusmaa, Asko Ristolainen
2025 J jnl
CoRR
Yuya Hamamatsu, Walid Remmas, Jaan Rebane, Maarja Kruusmaa, Asko Ristolainen
2025 J jnl
CoRR
Walid Remmas, Christian Meurer, Yuya Hamamatsu, Ahmed Chemori, Maarja Kruusmaa
2025 conf
RoboSoft
Yuya Hamamatsu, Pavlo Kupyn, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa
2025 J jnl
CoRR
Yuya Hamamatsu, Pavlo Kupyn, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa
2024 J jnl
IEEE Access
Roza Gkliva, Walid Remmas, Simon Godon, Jaan Rebane, Kilian Ochs, Maarja Kruusmaa, Asko Ristolainen
2024 A* conf
ICRA
Tanel Kossas, Walid Remmas, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa
2023 J jnl
Frontiers Robotics AI
Simon Godon, Maarja Kruusmaa, Asko Ristolainen
2022 J jnl
IEEE Robotics Autom. Lett.
Simon Godon, Asko Ristolainen, Maarja Kruusmaa
2022 J jnl
Ecol. Informatics
Ali Hassan Khan, Karla Ruiz Hussmann, Dennis Powalla, Stefan Hoerner, Maarja Kruusmaa, Jeffrey A. Tuhtan
2022 conf
ECC
Mart Ratas, Ahmed Chemori, Maarja Kruusmaa
2022 J jnl
IEEE Robotics Autom. Lett.
Roza Gkliva, Maarja Kruusmaa
2021 J jnl
Ecol. Informatics
Ana García-Vega, Juan Francisco Fuentes-Perez, Shinji Fukuda, Maarja Kruusmaa, Francisco Javier Sanz-Ronda, Jeffrey A. Tuhtan
2021 J jnl
J. Field Robotics
Walid Remmas, Ahmed Chemori, Maarja Kruusmaa
2021 J jnl
Sensors
Lauri Vihman, Maarja Kruusmaa, Jaan Raik
2020 J jnl
IEEE Robotics Autom. Lett.
Christian Meurer, Juan Francisco Fuentes-Perez, Kordula Schwarzwälder, Martin Ludvigsen, Asgeir Johan Sørensen, Maarja Kruusmaa
2020 J jnl
IEEE Robotics Autom. Lett.
Ashutosh Simha, Roza Gkliva, Ülle Kotta, Maarja Kruusmaa
2020 Misc conf
EDCC
Lauri Vihman, Maarja Kruusmaa, Jaan Raik
2020 C conf
Diagrams
Maarja Kruusmaa, Amirouche Moktefi, Jeffrey A. Tuhtan
2020 J jnl
IEEE Access
Ben J. Wolf, Primoz Pirih, Maarja Kruusmaa, Sietse M. van Netten
2020 J jnl
IEEE Instrum. Meas. Mag.
Jeffrey A. Tuhtan, Saptarshi Nag, Maarja Kruusmaa
2019 J jnl
Auton. Robots
Naveed Muhammad, Juan Francisco Fuentes-Perez, Jeffrey A. Tuhtan, Gert Toming, Mark Musall, Maarja Kruusmaa
2019 A* conf
ICRA
Christian Meurer, Ashutosh Simha, Ülle Kotta, Maarja Kruusmaa
2019 J jnl
CoRR
Lauri Vihman, Maarja Kruusmaa, Jaan Raik
2018 J jnl
Environ. Model. Softw.
Juan Francisco Fuentes-Perez, Ana T. Silva, Jeffrey Andrew Tuhtan, Ana García-Vega, Ruth Carbonell-Baeza, Mark Musall, Maarja Kruusmaa
2018 conf
RoboSoft
Roza Gliva, Michael Sfakiotakis, Maarja Kruusmaa
2018 J jnl
IEEE Trans. Geosci. Remote. Sens.
Asko Ristolainen, Kaia Kalev, Jeffrey Andrew Tuhtan, Alar Kuusik, Maarja Kruusmaa
2018 J jnl
J. Field Robotics
Victoria Preston, Taavi Salumae, Maarja Kruusmaa
2017 J jnl
IEEE Trans. Instrum. Meas.
Ke Chen, Jeffrey A. Tuhtan, Juan Francisco Fuentes-Perez, Gert Toming, Mark Musall, Nataliya Strokina, Joni-Kristian Kamarainen, Maarja Kruusmaa
2017 conf
ROBIO
Juan Francisco Fuentes-Perez, Naveed Muhammad, Jeffrey A. Tuhtan, Ruth Carbonell-Baeza, Mark Musall, Gert Toming, Maarja Kruusmaa
2017 J jnl
Auton. Robots
Naveed Muhammad, Gert Toming, Jeffrey A. Tuhtan, Mark Musall, Maarja Kruusmaa
2016 A* conf
ICRA
Ahmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja Kruusmaa
2016 conf
Living Machines
Asko Ristolainen, Jeffrey Andrew Tuhtan, Alar Kuusik, Maarja Kruusmaa
2016 J jnl
IEEE Trans. Instrum. Meas.
Nataliya Strokina, Joni-Kristian Kämäräinen, Jeffrey A. Tuhtan, Juan Francisco Fuentes-Perez, Maarja Kruusmaa
2016 A conf
IROS
Taavi Salumae, Ahmed Chemori, Maarja Kruusmaa
2016 conf
ICIRA (2)
Shinji Fukuda, Jeffrey A. Tuhtan, Juan Francisco Fuentes-Perez, Martin Schletterer, Maarja Kruusmaa
2015 A* conf
ICRA
Naveed Muhammad, Nataliya Strokina, Gert Toming, Jeffrey A. Tuhtan, Joni-Kristian Kamarainen, Maarja Kruusmaa
2015 conf
ECSS
Maarja Kruusmaa
2014 J jnl
IEEE Robotics Autom. Mag.
Maarja Kruusmaa, Paolo Fiorini, William Megill, Massimo de Vittorio, Otar Akanyeti, Francesco Visentin, Lily Chambers, Hadi El Daou, Maria-Camilla Fiazza, Jaas Jezov, Madis Listak, Lorenzo Rossi, Taavi Salumae, Gert Toming, Roberto Venturelli, David Samuel Jung, Jennifer C. Brown, Francesco Rizzi, Antonio Qualtieri, Jacqueline Lesley Maud, Andrew Liszewski
2014 J jnl
Robotics Auton. Syst.
Maarja Kruusmaa, Xiaobo Tan, Cecilia Laschi, Paolo Fiorini, Raj Madhavan
2013 A* conf
ICRA
David Samuel Jung, Peter P. Pott, Taavi Salumae, Maarja Kruusmaa
2013 J jnl
Int. J. Humanoid Robotics
Artur Abels, Maarja Kruusmaa
2012 A* conf
ICRA
Hadi El Daou, Taavi Salumae, Gert Toming, Maarja Kruusmaa
2012 A* conf
ICRA
Taavi Salumae, Iñaki Rañó, Otar Akanyeti, Maarja Kruusmaa
2012 conf
ROBIO
Gert Toming, Taavi Salumae, Asko Ristolainen, Francesco Visentin, Otar Akanyeti, Maarja Kruusmaa
2012 B conf
SMC
Jaas Jezov, Otar Akanyeti, Lily Chambers, Maarja Kruusmaa
2011 conf
ICAR
Hadi El Daou, Taavi Salumae, Asko Ristolainen, Gert Toming, Madis Listak, Maarja Kruusmaa
2011 conf
ISABEL
Lin Li, Peeter Ross, Maarja Kruusmaa, Xiaosong Zheng
2011 conf
HAIS (1)
Yuri Gavshin, Maarja Kruusmaa
2011 conf
ICAIS
Yuri Gavshin, Maarja Kruusmaa
2011 B conf
SMC
Yuri Gavshin, Maarja Kruusmaa
2011 conf
ICAR
Yuri Gavshin, Maarja Kruusmaa
2011 conf
ICAR
Janis Viba, Vitaly Beresnevich, Semyon Tsyfansky, Maarja Kruusmaa, Jean-Guy Fontaine, William Megill
2011 A* conf
ICRA
Maarja Kruusmaa, Gert Toming, Taavi Salumae, Jaas Jezov, Andres Ernits
2010 A* conf
ICRA
Otar Akanyeti, Andres Ernits, Maria-Camilla Fiazza, Gert Toming, Guntis Kulikovskis, Madis Listak, Rasmus Raag, Taavi Salumae, Paolo Fiorini, Maarja Kruusmaa
2009 A conf
IROS
Mart Anton, Zheng Chen, Maarja Kruusmaa, Xiaobo Tan
2009 conf
ICAR
Artur Abels, Maarja Kruusmaa
2008 A* conf
ICRA
Maarja Kruusmaa, Andres Hunt, Andres Punning, Mart Anton, Alvo Aabloo
2007 A* conf
ICRA
Maarja Kruusmaa, Yuri Gavshin, Adam Eppendahl
2006 A conf
IROS
Mart Anton, Maarja Kruusmaa, Alvo Aabloo, Andres Punning
2005 conf
CIRA
Madis Listak, Georg Martin, Deivid Pugal, Alvo Aabloo, Maarja Kruusmaa
2003 J jnl
Knowl. Based Syst.
Maarja Kruusmaa, Jan Willemson
2003 J jnl
J. Intell. Robotic Syst.
Maarja Kruusmaa
2003 J jnl
Auton. Robots
Maarja Kruusmaa
1998 conf
IEA/AIE (Vol. 2)
Maarja Kruusmaa, Bertil Svensson
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,
        )