搜索结果：Apple

Apple AirTags use Apple's Find My network: when nearby iDevices detect a lost tag, they anonymously forward an encrypted location report to Apple, which the tag's owner can then fetch to locate the item. That encryption protects privacy -- neither the finder nor Apple learns the owner's identity -- but it also prevents Apple from validating the correctness of received reports. We show that this design weakness can be exploited: using a relay attack, we can inject manipulated location reports so the Find My service reports a false position for a lost AirTag. The same technique can be used to deny recovery of a targeted tag (a focused DoS), since the owner is misled about its whereabouts.

Automated apple harvesting has attracted significant research interest in recent years due to its potential to revolutionize the apple industry, addressing the issues of shortage and high costs in labor. One key technology to fully enable efficient automated harvesting is accurate and robust apple detection, which is challenging due to complex orchard environments that involve varying lighting conditions and foliage/branch occlusions. Furthermore, clustered apples are common in the orchard, which brings additional challenges as the clustered apples may be identified as one apple. This will cause issues in localization for subsequent robotic operations. In this paper, we present the development of a novel deep learning-based apple detection framework, Occluder-Occludee Relational Network (O2RNet), for robust detection of apples in such clustered environments. This network exploits the occuluder-occludee relationship modeling head by introducing a feature expansion structure to enable the combination of layered traditional detectors to split clustered apples and foliage occlusions. More specifically, we collect a comprehensive apple orchard image dataset under different lighting cond

Apple's Find My network connects nearly one billion devices to locate missing property via Bluetooth Low Energy (BLE). This paper reveals that insecure BLE advertisements and design tradeoffs allow unauthorized discovery and physical theft of lost Apple devices. We develop Snatcher, an attack and analysis framework implemented fully on Android smartphones without specialized hardware. Snatcher identifies vulnerabilities in unencrypted BLE advertisements, unauthenticated acoustic triggers, and slow MAC address randomization. Through three levels - sound-based direction finding, RSSI-IMU sensor-fusion navigation, and spatial-temporal clustering - our Android-based platform physically tracks and locates lost Apple accessories and devices in real-world tests. Our results highlight a crucial conflict between privacy protection, anti-stalking design, and physical security, urging Apple to strengthen Find My defenses.

The growing adoption of Apple Silicon for machine learning development has created demand for efficient inference solutions that leverage its unique unified memory architecture. However, existing tools either lack native optimization (PyTorch MPS) or focus solely on text models, leaving multimodal workloads underserved. We present vllm-mlx, a framework for efficient LLM and MLLM inference on Apple Silicon built natively on MLX. For text models, we achieve 21\% to 87\% higher throughput than llama-cpp across models ranging from Qwen3-0.6B to Nemotron-30B, while providing continuous batching that scales to 4.3x aggregate throughput at 16 concurrent requests. For multimodal models, we introduce content-based prefix caching that eliminates redundant vision encoding by identifying identical images through content hashing, regardless of input format. Our evaluation on Apple M4 Max demonstrates throughput of up to 525 tokens per second on text models and 28x speedup on repeated image queries, reducing multimodal latency from 21.7 seconds to under 1 second. Video analysis with up to 64 frames achieves 24.7x cache speedup. We release our implementation as open source to support efficient in

We consider a new treatment for making polyhedron nets referred to as ``apple peel unfolding'': drawing the nets as if we were peeling off appleskins. We define apple peel unfolding strictly and implement a program that derives the sequential selection of the polyhedral faces for a target polyhedron in accordance with the definition. Consequently, the program determines whether the polyhedron is peelable (can be peeled completely). We classify Archimedean solids and their duals (Catalan solids) as perfect (always peelable), possible (peelable for restricted cases), or impossible. The results show that three Archimedean and six Catalan solids are perfect, and three Archimedean and three Catalan ones are possible.

Smartwatches such as the Apple Watch collect vast amounts of intimate health and fitness data as we wear them. Users have little choice regarding how this data is processed: The Apple Watch can only be used with Apple's iPhones, using their software and their cloud services. We are the first to publicly reverse-engineer the watch's wireless protocols, which led to discovering multiple security issues in Apple's proprietary implementation. With WatchWitch, our custom Android reimplementation, we break out of Apple's walled garden -- demonstrating practical interoperability with enhanced privacy controls and data autonomy. We thus pave the way for more consumer choice in the smartwatch ecosystem, offering users more control over their devices.

Active perception is a fundamental skill that enables us humans to deal with uncertainty in our inherently partially observable environment. For senses such as touch, where the information is sparse and local, active perception becomes crucial. In recent years, active perception has emerged as an important research domain in robotics. However, current methods are often bound to specific tasks or make strong assumptions, which limit their generality. To address this gap, this work introduces APPLE (Active Perception Policy Learning) - a novel framework that leverages reinforcement learning (RL) to address a range of different active perception problems. APPLE jointly trains a transformer-based perception module and decision-making policy with a unified optimization objective, learning how to actively gather information. By design, APPLE is not limited to a specific task and can, in principle, be applied to a wide range of active perception problems. We evaluate two variants of APPLE across different tasks, including tactile exploration problems from the Tactile MNIST benchmark. Experiments demonstrate the efficacy of APPLE, achieving high accuracies on both regression and classifica

The Apple Neural Engine (ANE) is the fixed-function matrix accelerator that has shipped in Apple systems-on-chip since the A11-class iPhone and iPad chips and the M1-class Mac chips, exposed to applications only through the Core ML model framework. This guide reports a reverse-engineered account of the engine, based on direct measurement on Apple silicon and static analysis of the private runtime, compiler, kernel driver, and firmware. It documents the datapath and the roofline that bound the engine's throughput and energy, the dispatch route that reaches it below Core ML, the compiler and on-disk program format, the weight-compression scheme, and the kernel driver, firmware, and command protocol beneath them. The account covers the A11 through A18 and M1 through M5 families, with per-chip target tables and an operation-by-device matrix; the direct measurements are on the M1 and M5. Claims are labeled as measured, decompile-derived, or predicted, and the methodology and open questions are recorded. The direct route is callable from ordinary user space but remains undocumented, unsupported, and version-fragile; it is intended for measurement, research, and on-device work, not for sh

ANEForge is a Python package that programs the Apple Neural Engine (ANE), the fixed-function neural accelerator on every recent Apple device, directly and without CoreML. In production the engine is reachable only through CoreML, which treats it as a scheduling option: no configuration requires the ANE, and a model can silently run on the CPU or GPU instead. ANEForge compiles a lazy tensor graph, built from 58 fused operators and 19 native bridge operators, into a single ANE program. The program is dispatched through the same ANE daemon and kernel-driver stack as Apple's internal framework. Beyond inference, the package reaches the engine's native fused attention, streams int8, int4, and sparse weights, keeps decoder and optimizer state resident across steps, and runs the forward pass, backward pass, and optimizer update of training on the engine. A small fused program completes a call in about 90us, near the engine's 70us per-program dispatch floor, and a pretrained ResNet-18 forward runs end-to-end in 0.33ms. ResNet-18, a sentence encoder, and a Vision Transformer run end-to-end against framework references, and a Stable Diffusion U-Net validates its forward pass. ANEForge target

Apple Silicon has attracted much attention for its performance and role in machine learning (ML) training. Unlike NVIDIA GPUs, which have traditionally dominated ML training, Apple Silicon has a significant difference in memory architecture. It uses Unified Memory, which integrates CPU and GPU memory instead of separate CPU memory and GPU VRAM. However, it is difficult to tell whether Unified Memory means more performance benefits. This paper investigates the performance differences by training several large language model (LLM) workloads end-to-end under different memory scenarios. The results show a significant performance gap between Apple Silicon and NVIDIA GPUs. This paper attributes this gap to system-level factors such as page faults, power consumption, and kernel launch time. In addition, the performance difference of basic linear algebra subprograms (BLAS) on the NVIDIA GPUs and Apple Silicon chips is analyzed to further explain the observed gap.

Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in automated harvesting offer a promising solution by enabling efficient, cost-effective, and ergonomic fruit picking within tight harvesting windows. However, existing harvesting technologies often indiscriminately harvest all visible and accessible fruits, including those that are unripe or undersized. This study introduces a novel foundation model-based framework for efficient apple ripeness and size estimation. Specifically, we curated two public RGBD-based Fuji apple image datasets, integrating expanded annotations for ripeness ("Ripe" vs. "Unripe") based on fruit color and image capture dates. The resulting comprehensive dataset, Fuji-Ripeness-Size Dataset, includes 4,027 images and 16,257 annotated apples with ripeness and size labels. Using Grounding-DINO, a language-model-based object detector, we achieved robust apple detection and ripeness classification, outperforming other state-of-the-art models. Additionally, we developed and evaluated six size estimation algorithms, selecting the one with the low

The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful implementation of robotic harvesting systems. In this paper, we propose a novel approach to apple detection and position estimation utilizing an object detection model, YOLOv5. Our primary objective is to develop a robust system capable of identifying apples in complex orchard environments and providing precise location information. To achieve this, we curated an autonomously labeled dataset comprising diverse apple tree images, which was utilized for both training and evaluation purposes. Through rigorous experimentation, we compared the performance of our YOLOv5-based system with other popular object detection models, including SSD. Our results demonstrate that the YOLOv5 model outperforms its counterparts, achieving an impressive apple detection accuracy of approximately 85%. We believe that our proposed system's accurate apple detection and position estimation capabilities represent a significant advancement in agricultural robotics, laying the groundwo

A systematic understanding of Apple Silicon is lacking in the current landscape of hardware efficiency; research focus is largely centered on accelerating GPUs for large-scale training or inference on CUDA devices. This paper investigates Apple Silicon's unique memory architecture that offers a unified memory integrating CPU and GPU memory and its implications for on-device LLM inference. We decipher myths about whether Apple Silicon is efficient for on-device inference compared to competitors such as NVIDIA GPUs by directly conducting latency and throughput comparison benchmarks. We explain the performance gap between them through profiling low level hardware metrics - ALU utilization, memory bandwidth, buffer usage, cache residency etc. at runtime. We draw several insights regarding performance bottlenecks such as dequantization overhead, compute throughput and memory bandwidth. We debunk existing false claims regarding large language model inference such as compressing models to lower bit precision is a defacto promise for faster inference across all hardware platforms. We find that the large unified memory enables Apple Silicon to be both cost effective and efficient against NV

Face swapping aims to transfer the identity of a source face onto a target face while preserving target-specific attributes such as pose, expression, lighting, skin tone, and makeup. However, since real ground truth for face swapping is unavailable, achieving both accurate identity transfer and high-quality attribute preservation remains challenging. Recent diffusion-based approaches attempt to improve visual fidelity through conditional inpainting on masked target images, but the masked condition removes crucial appearance cues, resulting in plausible yet misaligned attributes. To address this limitation, we propose APPLE (Attribute-Preserving Pseudo-Labeling), a fully diffusion-based teacher-student framework for attribute-preserving face swapping. Our approach introduces a teacher design to produce pseudo-labels aligned with the target attributes through (1) a conditional deblurring formulation that improves the preservation of global attributes such as skin tone and illumination, and (2) an attribute-aware inversion scheme that further enhances fine-grained attribute preservation such as makeup. APPLE conditions the student on clean pseudo-labels rather than degraded masked inp

This paper investigates the architectural features and performance potential of the Apple Silicon M-Series SoCs (M1, M2, M3, and M4) for HPC. We provide a detailed review of the CPU and GPU designs, the unified memory architecture, and coprocessors such as Advanced Matrix Extensions (AMX). We design and develop benchmarks in the Metal Shading Language and Objective-C++ to assess FP32 computational and memory performance. We also measure power consumption and efficiency using Apple's powermetrics tool. Our results show that the M-Series chips offer up to 100 GB/s memory bandwidth, and significant generational improvements in computational performance, with up to 2.9 FP32 TFLOPS on the M4. Power consumption varies from a few Watts to 10-20 Watts, with more than 200 GFLOPS per Watt efficiency of GPU and accelerator reached by all four chips. Despite limitations in FP64 support on the GPU, the M-Series chips demonstrate strong potential for energy-efficient HPC applications. While existing HPC solutions such as the Nvidia Grace-Hopper superchip outperform Apple Silicon in both memory bandwidth and computational performance, we see that the M-Series provides a competitive power-efficien

Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in recent years. However, existing systems still fall short in terms of performance, effectiveness, and reliability for complex orchard environments. In this work, we present the development and evaluation of a dual-arm harvesting robot. The system integrates a ToF camera, two 4DOF robotic arms, a centralized vacuum system, and a post-harvest handling module. During harvesting, suction force is dynamically assigned to either arm via the vacuum system, enabling efficient apple detachment while reducing power consumption and noise. Compared to our previous design, we incorporated a platform movement mechanism that enables both in-out and up-down adjustments, enhancing the robot's dexterity and adaptability to varying canopy structures. On the algorithmic side, we developed a robust apple localization pipeline that combines a foundation-model-based detector, segmentation, and clustering-based depth estimation, which improves performance in orchards. Additio

Apple is one of the remarkable fresh fruit that contains a high degree of nutritious and medicinal value. Hand harvesting of apples by seasonal farmworkers increases physical damages on the surface of these fruits, which causes a great loss in marketing quality. The main objective of this study is focused on designing a robust vision algorithm for robotic apple harvesters. The proposed algorithm is able to recognize and classify 4-classes of objects found in an orchard scene including apples, leaves, trunk and branches, and sky into two apples and non-apples classes. 100 digital images of Red Delicious apples and 100 digital images of Golden Delicious apples were selected among 1000 captured images of apples from 18 apple gardens in West Azerbaijan, Iran. An image processing algorithm is proposed for segmentation and extraction of the image classes based on the color characteristics of mentioned classes. Invariant-Momentums were chosen as the extracted features from the segmented classes, e.g. apples. Multilayer Feedforward Neural Networks, MFNNs, were used as an artificial intelligence tool for the recognition and classification of image classes.

The recent widespread adoption of Large Language Models (LLMs) and machine learning in general has sparked research interest in exploring the possibilities of deploying these models on smaller devices such as laptops and mobile phones. This creates a need for frameworks and approaches that are capable of taking advantage of on-device hardware. The MLX framework was created to address this need. It is a framework optimized for machine learning (ML) computations on Apple silicon devices, facilitating easier research, experimentation, and prototyping. This paper presents a performance evaluation of MLX, focusing on inference latency of transformer models. We compare the performance of different transformer architecture implementations in MLX with their Pytorch counterparts. For this research we create a framework called MLX-transformers which includes different transformer implementations in MLX and downloads the model checkpoints in pytorch and converts it to the MLX format. By leveraging the advanced architecture and capabilities of Apple Silicon, MLX-Transformers enables seamless execution of transformer models directly sourced from Hugging Face, eliminating the need for checkpoint

Wireless chips and interfaces expose a substantial remote attack surface. As of today, most cellular baseband security research is performed on the Android ecosystem, leaving a huge gap on Apple devices. With iOS jailbreaks, last-generation wireless chips become fairly accessible for performance and security research. Yet, iPhones were never intended to be used as a research platform, and chips and interfaces are undocumented. One protocol to interface with such chips is Apple Remote Invocation (ARI), which interacts with the central phone component CommCenter and multiple user-space daemons, thereby posing a Remote Code Execution (RCE) attack surface. We are the first to reverse-engineer and fuzz-test the ARI interface on iOS. Our Ghidra scripts automatically generate a Wireshark dissector, called ARIstoteles, by parsing closed-source iOS libraries for this undocumented protocol. Moreover, we compare the quality of the dissector to fully-automated approaches based on static trace analysis. Finally, we fuzz the ARI interface based on our reverse-engineering results. The fuzzing results indicate that ARI does not only lack public security research but also has not been well-tested b