Neel Doshi

28 papers A* 6A 7Journal 13Unranked 2
YearRankTypeTitle / Venue / Authors
2025 J jnl
CoRR
Nicolas Hudson, Josh Hooks, Rahul Warrier, Curt Salisbury, Ross Hartley, Kislay Kumar, Bhavana Chandrashekhar, Paul Birkmeyer, Bosch Tang, Matthew A. Frost, Shantanu Thakar, Tony Piaskowy, Petter Nilsson, Josh Petersen, Neel Doshi, Alan Slatter, Ankit Bhatia, Cassie Meeker, Yuechuan Xue, Dylan Cox, Alex Kyriazis, Bai Lou, Nadeem Hasan, Asif Rana, Nikhil Chacko, Ruinian Xu, Siamak Faal, Esi Seraj, Mudit Agrawal, Kevin Jamieson, Alessio Bisagni, Valerie Samzun, Christine Fuller, Alex Keklak, Alex Frenkel, Lillian J. Ratliff, Aaron Parness
2023 A conf
IROS
Orion Taylor, Neel Doshi, Alberto Rodriguez
2023 J jnl
CoRR
Orion Taylor, Neel Doshi, Alberto Rodriguez
2023 A conf
IROS
Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar, Alberto Rodriguez
2023 J jnl
CoRR
Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar, Alberto Rodriguez
2022 A* conf
ICRA
Neel Doshi, Orion Taylor, Alberto Rodriguez
2022 J jnl
CoRR
Neel Doshi, Orion Taylor, Alberto Rodriguez
2022 A conf
IROS
Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar, Alberto Rodriguez
2021 A* conf
ICRA
Joshua Gruenstein, Tao Chen, Neel Doshi, Pulkit Agrawal
2021 J jnl
CoRR
Joshua Gruenstein, Tao Chen, Neel Doshi, Pulkit Agrawal
2020 A* conf
ICRA
Neel Doshi, François Robert Hogan, Alberto Rodriguez
2020 J jnl
IEEE Robotics Autom. Lett.
YuFeng Chen, Neel Doshi, Robert J. Wood
2020 A conf
IROS
Ian H. Taylor, Nikhil Chavan Dafle, Godric Li, Neel Doshi, Alberto Rodriguez
2019 J jnl
CoRR
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
2019 J jnl
Int. J. Robotics Res.
Zachary Manchester, Neel Doshi, Robert J. Wood, Scott Kuindersma
2019 J jnl
CoRR
Neel Doshi, Kaushik Jayaram, Samantha Castellanos, Scott Kuindersma, Robert J. Wood
2019 J jnl
CoRR
Neel Doshi, Francois Robert Hogan, Alberto Rodriguez
2018 conf
Robotics: Science and Systems
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J. Wood, Scott Kuindersma
2018 J jnl
Sci. Robotics
Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Jack Zhou, Robert J. Wood
2018 J jnl
IEEE Robotics Autom. Lett.
Benjamin Goldberg, Raphael Zufferey, Neel Doshi, Elizabeth Farrell Helbling, Griffin Whittredge, Mirko Kovac, Robert J. Wood
2018 J jnl
Sci. Robotics
Fatma Zeynep Temel, Neel Doshi, Je-Sung Koh, Robert J. Wood
2017 A conf
IROS
Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Je-Sung Koh, Robert J. Wood
2017 A* conf
ICRA
Benjamin Goldberg, Neel Doshi, Robert J. Wood
2017 A* conf
ICRA
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Robert J. Wood
2015 A conf
IROS
Remo Bruhwiler, Benjamin Goldberg, Neel Doshi, Onur Özcan, Noah Jafferis, Michael Karpelson, Robert J. Wood
2015 A conf
IROS
Neel Doshi, Benjamin Goldberg, Ranjana Sahai, Noah Jafferis, Daniel Aukes, Robert J. Wood
2014 conf
ROBIO
Benedikt F. Seitz, Benjamin Goldberg, Neel Doshi, Onur Özcan, David L. Christensen, Elliot Wright Hawkes, Mark R. Cutkosky, Robert J. Wood
2014 A* conf
ICRA
Ian O'Hara, James Paulos, Jay Davey, Nick Eckenstein, Neel Doshi, Tarik Tosun, Jonathan Greco, Jungwon Seo, Matthew Turpin, Vijay Kumar, Mark Yim
redb/extractors/decompiler/_archive/DecompileGhidra-old.py
← Index redb/extractors/decompiler/_archive/DecompileGhidra-old.py python
from hashlib import sha256
import inspect
from pathlib import Path
import subprocess
import json
import subprocess
import json
import os
import tempfile
import uuid
import shutil
import time

from dotenv import load_dotenv

from redb.extractors.enum import Tag
from redb.models.dataclasses import Decompiled
from redb.extractors.extractor import Extractor


class DecompileGhidra(Extractor):
    def __init__(
        self,
        filepath,
        log,
        index_prefix=None,
        elastic_index=None,
        known_benign=False,
        known_malicious=False,
    ):
        super().__init__(
            filepath, log, index_prefix, elastic_index, known_benign, known_malicious
        )
        self.log.debug(inspect.currentframe().f_code.co_name)
        self.elastic_index = self.index_prefix + "-ghidra"
        self.ghidra_path = "/opt/ghidra"
        self.java_script_path = (
            self.ghidra_path
            + "/Ghidra/Features/Base/ghidra_scripts/GhidraDecompilerScript.java"
        )
        self.decompiled = None
        load_dotenv()
        self.decompiled_folder = os.getenv("DECOMPILED_FOLDER", "/opt/decompiled")
        self.log.debug(f"Decompiled folder: {self.decompiled_folder}")

    def run_command(self, cmd, env=None):
        try:
            self.log.info(f"Starting command: {' '.join(cmd)}")
            start_time = time.time()
            TIMEOUT = 1200  # 20 minutes in seconds
            process = subprocess.Popen(
                cmd, env=env, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
            )

            while True:
                output = process.stdout.readline()
                if output:
                    print(output.strip())
                if process.poll() is not None:
                    break
            try:
                stdout, stderr = process.communicate(timeout=TIMEOUT)
            except subprocess.TimeoutExpired:
                process.kill()
                self.log.error(f"Ghidra timed out after {TIMEOUT} seconds")
                # raise subprocess.TimeoutExpired(process.args, TIMEOUT)
                return None
            end_time = time.time()

            self.log.debug(
                f"Command finished. Execution time: {end_time - start_time:.2f} seconds"
            )
            self.log.debug(f"Return code: {process.returncode}")

            if process.returncode != 0:
                self.log.error(f"Error output:\n{stderr}")
                return None
            return stdout
        except Exception as e:
            self.log.error(f"Error running command {' '.join(cmd)}: {e}")
            return None

    def analyze_binary(self):
        self.log.debug(f"Ghidra path: {self.ghidra_path}")
        self.log.debug(f"Binary path: {self.filepath}")
        self.log.debug(f"Java script path: {self.java_script_path}")

        # Check if Java script exists
        if not os.path.exists(self.java_script_path):
            self.log.error(f"Error: Java script not found at {self.java_script_path}")
            return None

        # Set up environment variables
        env = os.environ.copy()
        java_home = "/usr/lib/jvm/java-17-openjdk-amd64"  # Adjust this path if needed
        env["JAVA_HOME"] = java_home
        env["PATH"] = f"{java_home}/bin:{env['PATH']}"
        env["LD_LIBRARY_PATH"] = f"{java_home}/lib:{env.get('LD_LIBRARY_PATH', '')}"
        env["DECOMPILED_FOLDER"] = self.decompiled_folder

        # Print environment variables for debugging
        self.log.debug(f"JAVA_HOME: {env['JAVA_HOME']}")
        self.log.debug(f"PATH: {env['PATH']}")
        self.log.debug(f"LD_LIBRARY_PATH: {env['LD_LIBRARY_PATH']}")

        # Check Ghidra installation
        analyzeHeadless_path = f"{self.ghidra_path}/support/analyzeHeadless"
        self.log.debug(
            f"analyzeHeadless exists: {os.path.exists(analyzeHeadless_path)}"
        )

        # Create a temporary project directory
        project_path = tempfile.gettempdir() + "/ghidra_" + str(uuid.uuid4())
        os.makedirs(project_path, exist_ok=True)
        self.log.debug(f"Created temporary project path: {project_path}")
        output_file = ""

        try:
            # Run Ghidra's headless analyzer
            analyze_cmd = [
                analyzeHeadless_path,
                project_path,
                "TempProject",
                "-import",
                self.filepath,
                "-postScript",
                self.java_script_path,
                self.sha256,
                "-deleteProject",
            ]

            result = self.run_command(analyze_cmd, env=env)
            if result is None:
                return None

            # Read the output JSON file
            output_file = os.path.join(
                self.decompiled_folder, self.sha256 + "-decompiled.json"
            )
            if os.path.exists(output_file):
                with open(output_file, "r") as f:
                    functions = json.load(f)
                return functions
            else:
                self.log.error(
                    f"Output file {output_file} not found. Ghidra analysis may have failed."
                )
                return None
        finally:
            # Clean up
            if os.path.exists(project_path):
                shutil.rmtree(project_path)
                self.log.debug(f"Deleted temporary project path: {project_path}")

    def extract(self):
        self.log.debug(inspect.currentframe().f_code.co_name)
        try:
            functions = self.analyze_binary()

            if functions:
                self.log.info(f"Extracted functions from {self.filepath}:")
                for func in functions:
                    id = sha256(func["address"].encode()).hexdigest()
                    self.decompiled = Decompiled(
                        _id=id,
                        decompiled_function_name=func["name"],
                        decompiled_function_address=func["address"],
                        decompiled_function=func["decompiled"],
                    )
                    self.export_to_elastic([self.decompiled])
            else:
                self.log.error("No decompiled functions extracted.")
            return True
        except Exception as e:
            self.log.error(f"Error extracting decompiled information: {e}")
            return None

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