Collaborative perception, which greatly enhances the sensing capability of connected and autonomous vehicles (CAVs) by incorporating data from external resources, also brings forth potential security risks. CAVs' driving decisions rely on remote untrusted data, making them susceptible to attacks carried out by malicious participants in the collaborative perception system. However, security analysis and countermeasures for such threats are absent. To understand the impact of the vulnerability, we break the ground by proposing various real-time data fabrication attacks in which the attacker delivers crafted malicious data to victims in order to perturb their perception results, leading to hard brakes or increased collision risks. Our attacks demonstrate a high success rate of over 86% on high-fidelity simulated scenarios and are realizable in real-world experiments. To mitigate the vulnerability, we present a systematic anomaly detection approach that enables benign vehicles to jointly reveal malicious fabrication. It detects 91.5% of attacks with a false positive rate of 3% in simulated scenarios and significantly mitigates attack impacts in real-world scenarios.
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The Hyperspectral Unxming problem is to find the pure spectral signal of the underlying materials (endmembers) and their proportions (abundances). The proposed method builds upon the recently proposed method, Latent Dirichlet Variational Autoencoder (LDVAE). It assumes that abundances can be encoded as Dirichlet Distributions while mixed pixels and endmembers are represented by Multivariate Normal Distributions. However, LDVAE does not leverage spatial information present in an HSI; we propose an Isotropic CNN encoder with spatial attention to solve the hyperspectral unmixing problem. We evaluated our model on Samson, Hydice Urban, Cuprite, and OnTech-HSI-Syn-21 datasets. Our model also leverages the transfer learning paradigm for Cuprite Dataset, where we train the model on synthetic data and evaluate it on real-world data. We are able to observe the improvement in the results for the endmember extraction and abundance estimation by incorporating the spatial information. Code can be found at //github.com/faisalqureshi/cnn-ldvae
Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is significantly under-exploited. The incorporation of rich semantic information from the camera, and reliable 3D information from the radar can potentially achieve an efficient, cheap, and portable solution for 3D object perception tasks. It can also be robust to different lighting or all-weather driving scenarios due to the capability of mmWave radars. In this paper, we introduce the CRUW3D dataset, including 66K synchronized and well-calibrated camera, radar, and LiDAR frames in various driving scenarios. Unlike other large-scale autonomous driving datasets, our radar data is in the format of radio frequency (RF) tensors that contain not only 3D location information but also spatio-temporal semantic information. This kind of radar format can enable machine learning models to generate more reliable object perception results after interacting and fusing the information or features between the camera and radar.
Federated Learning (FL) has seen increasing interest in cases where entities want to collaboratively train models while maintaining privacy and governance over their data. In FL, clients with private and potentially heterogeneous data and compute resources come together to train a common model without raw data ever leaving their locale. Instead, the participants contribute by sharing local model updates, which, naturally, differ in quality. Quantitatively evaluating the worth of these contributions is termed the Contribution Evaluation (CE) problem. We review current CE approaches from the underlying mathematical framework to efficiently calculate a fair value for each client. Furthermore, we benchmark some of the most promising state-of-the-art approaches, along with a new one we introduce, on MNIST and CIFAR-10, to showcase their differences. Designing a fair and efficient CE method, while a small part of the overall FL system design, is tantamount to the mainstream adoption of FL.
The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufacturing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This leads to higher integration challenges of conventional timing predictability techniques due to access contention on shared resources, which can be resolved by providing system-level observability and controllability in hardware. We focus on the interconnect as a shared resource and propose AXI-REALM, a lightweight, modular, and technology-independent real-time extension to industry-standard AXI4 interconnects, available open-source. AXI-REALM uses a credit-based mechanism to distribute and control the bandwidth in a multi-subordinate system on periodic time windows, proactively prevents denial of service from malicious actors in the system, and tracks each manager's access and interference statistics for optimal budget and period selection. We provide detailed performance and implementation cost assessment in a 12nm node and an end-to-end functional case study implementing AXI-REALM into an open-source Linux-capable RISC-V SoC. In a system with a general-purpose core and a hardware accelerator's DMA engine causing interference on the interconnect, AXI-REALM achieves fair bandwidth distribution among managers, allowing the core to recover 68.2 % of its performance compared to the case without contention. Moreover, near-ideal performance (above 95 %) can be achieved by distributing the available bandwidth in favor of the core, improving the worst-case memory access latency from 264 to below eight cycles. Our approach minimizes buffering compared to other solutions and introduces only 2.45 % area overhead compared to the original SoC.
Autonomous vehicle refers to a vehicle capable of perceiving its surrounding environment and driving with little or no human driver input. The perception system is a fundamental component which enables the autonomous vehicle to collect data and extract relevant information from the environment to drive safely. Benefit from the recent advances in computer vision, the perception task can be achieved by using sensors, such as camera, LiDAR, radar, and ultrasonic sensor. This paper reviews publications on computer vision and autonomous driving that are published during the last ten years. In particular, we first investigate the development of autonomous driving systems and summarize these systems that are developed by the major automotive manufacturers from different countries. Second, we investigate the sensors and benchmark data sets that are commonly utilized for autonomous driving. Then, a comprehensive overview of computer vision applications for autonomous driving such as depth estimation, object detection, lane detection, and traffic sign recognition are discussed. Additionally, we review public opinions and concerns on autonomous vehicles. Based on the discussion, we analyze the current technological challenges that autonomous vehicles meet with. Finally, we present our insights and point out some promising directions for future research. This paper will help the reader to understand autonomous vehicles from the perspectives of academia and industry.
LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their effectiveness and efficiency are still limited owing to the difficulty of modeling non-existent instance centers and the costly center-based clustering modules. To achieve accurate and real-time LiDAR panoptic segmentation, a novel center focusing network (CFNet) is introduced. Specifically, the center focusing feature encoding (CFFE) is proposed to explicitly understand the relationships between the original LiDAR points and virtual instance centers by shifting the LiDAR points and filling in the center points. Moreover, to leverage the redundantly detected centers, a fast center deduplication module (CDM) is proposed to select only one center for each instance. Experiments on the SemanticKITTI and nuScenes panoptic segmentation benchmarks demonstrate that our CFNet outperforms all existing methods by a large margin and is 1.6 times faster than the most efficient method. The code is available at //github.com/GangZhang842/CFNet.
To ensure AI safety, instruction-tuned Large Language Models (LLMs) are specifically trained to ensure alignment, which refers to making models behave in accordance with human intentions. While these models have demonstrated commendable results on various safety benchmarks, the vulnerability of their safety alignment has not been extensively studied. This is particularly troubling given the potential harm that LLMs can inflict. Existing attack methods on LLMs often rely on poisoned training data or the injection of malicious prompts. These approaches compromise the stealthiness and generalizability of the attacks, making them susceptible to detection. Additionally, these models often demand substantial computational resources for implementation, making them less practical for real-world applications. In this work, we introduce a novel attack framework, called Backdoor Activation Attack, which injects trojan steering vectors into the activation layers of LLMs. These malicious steering vectors can be triggered at inference time to steer the models toward attacker-desired behaviors by manipulating their activations. In particular, the steering vectors are generated by taking the difference between benign and malicious activations. Then, the most effective steering vector is selected and added to the forward passes of the LLMs. Our experiment results on four primary alignment tasks show that our proposed method is highly effective and adds little or no overhead to attack efficiency. Additionally, we discuss potential countermeasures against such activation attacks. Our code and data are available at //email-haoran-for-link. Warning: this paper contains content that can be offensive or upsetting.
Precise estimation of Crash Modification Factors (CMFs) is central to evaluating the effectiveness of various road safety treatments and prioritizing infrastructure investment accordingly. While customized study for each countermeasure scenario is desired, the conventional CMF estimation approaches rely heavily on the availability of crash data at given sites. This not only makes the estimation costly, but the results are also less transferable, since the intrinsic similarities between different safety countermeasure scenarios are not fully explored. Aiming to fill this gap, this study introduces a novel knowledge-mining framework for CMF prediction. This framework delves into the connections of existing countermeasures and reduces the reliance of CMF estimation on crash data availability and manual data collection. Specifically, it draws inspiration from human comprehension processes and introduces advanced Natural Language Processing (NLP) techniques to extract intricate variations and patterns from existing CMF knowledge. It effectively encodes unstructured countermeasure scenarios into machine-readable representations and models the complex relationships between scenarios and CMF values. This new data-driven framework provides a cost-effective and adaptable solution that complements the case-specific approaches for CMF estimation, which is particularly beneficial when availability of crash data or time imposes constraints. Experimental validation using real-world CMF Clearinghouse data demonstrates the effectiveness of this new approach, which shows significant accuracy improvements compared to baseline methods. This approach provides insights into new possibilities of harnessing accumulated transportation knowledge in various applications.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.
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