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Register a new userAdversarial Attacks on Optimization based Planners
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Added by
Sai Vemprala
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the robots physical specifications. Starting from an initial estimate, the planners iteratively refine the solution so as to satisfy the desired constraints. In this paper, we show that such iterative optimization based planners can be vulnerable to adversarial attacks that force the planner either to fail completely, or significantly increase the time required to find a solution. The key insight here is that an adversary in the environment can directly affect the optimization cost function of a planner. We demonstrate how the adversary can adjust its own state configurations to result in poorly conditioned eigenstructure of the objective leading to failures. We apply our method against two state of the art trajectory planners and demonstrate that an adversary can consistently exploit certain weaknesses of an iterative optimization scheme.
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Decision-based attacks (DBA), wherein attackers perturb inputs to spoof learning algorithms by observing solely the output labels, are a type of severe adversarial attacks against Deep Neural Networks (DNNs) requiring minimal knowledge of attackers. State-of-the-art DBA attacks relying on zeroth-order gradient estimation require an excessive number of queries. Recently, Bayesian optimization (BO) has shown promising in reducing the number of queries in score-based attacks (SBA), in which attackers need to observe real-valued probability scores as outputs. However, extending BO to the setting of DBA is nontrivial because in DBA only output labels instead of real-valued scores, as needed by BO, are available to attackers. In this paper, we close this gap by proposing an efficient DBA attack, namely BO-DBA. Different from existing approaches, BO-DBA generates adversarial examples by searching so-called emph{directions of perturbations}. It then formulates the problem as a BO problem that minimizes the real-valued distortion of perturbations. With the optimized perturbation generation process, BO-DBA converges much faster than the state-of-the-art DBA techniques. Experimental results on pre-trained ImageNet classifiers show that BO-DBA converges within 200 queries while the state-of-the-art DBA techniques need over 15,000 queries to achieve the same level of perturbation distortion. BO-DBA also shows similar attack success rates even as compared to BO-based SBA attacks but with less distortion.
Sampling based probabilistic roadmap planners (PRM) have been successful in motion planning of robots with higher degrees of freedom, but may fail to capture the connectivity of the configuration space in scenarios with a critical narrow passage. In this paper, we show a novel technique based on Levy Flights to generate key samples in the narrow regions of configuration space, which, when combined with a PRM, improves the completeness of the planner. The technique substantially improves sample quality at the expense of a minimal additional computation, when compared with pure random walk based methods, however, still outperforms state of the art random bridge building method, in terms of number of collision calls, computational overhead and sample quality. The method is robust to the changes in the parameters related to the structure of the narrow passage, thus giving an additional generality. A number of 2D & 3D motion planning simulations are presented which shows the effectiveness of the method.
Deep learning models are vulnerable to adversarial examples, which can fool a target classifier by imposing imperceptible perturbations onto natural examples. In this work, we consider the practical and challenging decision-based black-box adversarial setting, where the attacker can only acquire the final classification labels by querying the target model without access to the models details. Under this setting, existing works often rely on heuristics and exhibit unsatisfactory performance. To better understand the rationality of these heuristics and the limitations of existing methods, we propose to automatically discover decision-based adversarial attack algorithms. In our approach, we construct a search space using basic mathematical operations as building blocks and develop a random search algorithm to efficiently explore this space by incorporating several pruning techniques and intuitive priors inspired by program synthesis works. Although we use a small and fast model to efficiently evaluate attack algorithms during the search, extensive experiments demonstrate that the discovered algorithms are simple yet query-efficient when transferred to larger normal and defensive models on the CIFAR-10 and ImageNet datasets. They achieve comparable or better performance than the state-of-the-art decision-based attack methods consistently.
This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in seen and unseen environments. It takes environment information such as raw point-cloud from depth sensors, as well as a robots initial and desired goal configurations and recursively calls itself to bidirectionally generate connectable paths. In addition to finding directly connectable and near-optimal paths in a single pass, we show that worst-case theoretical guarantees can be proven if we merge this neural network strategy with classical sample-based planners in a hybrid approach while still retaining significant computational and optimality improvements. To train the MPNet models, we present an active continual learning approach that enables MPNet to learn from streaming data and actively ask for expert demonstrations when needed, drastically reducing data for training. We validate MPNet against gold-standard and state-of-the-art planning methods in a variety of problems from 2D to 7D robot configuration spaces in challenging and cluttered environments, with results showing significant and consistently stronger performance metrics, and motivating neural planning in general as a modern strategy for solving motion planning problems efficiently.
Being an emerging class of in-memory computing architecture, brain-inspired hyperdimensional computing (HDC) mimics brain cognition and leverages random hypervectors (i.e., vectors with a dimensionality of thousands or even more) to represent features and to perform classification tasks. The unique hypervector representation enables HDC classifiers to exhibit high energy efficiency, low inference latency and strong robustness against hardware-induced bit errors. Consequently, they have been increasingly recognized as an appealing alternative to or even replacement of traditional deep neural networks (DNNs) for local on device classification, especially on low-power Internet of Things devices. Nonetheless, unlike their DNN counterparts, state-of-the-art designs for HDC classifiers are mostly security-oblivious, casting doubt on their safety and immunity to adversarial inputs. In this paper, we study for the first time adversarial attacks on HDC classifiers and highlight that HDC classifiers can be vulnerable to even minimally-perturbed adversarial samples. Concretely, using handwritten digit classification as an example, we construct a HDC classifier and formulate a grey-box attack problem, where an attackers goal is to mislead the target HDC classifier to produce erroneous prediction labels while keeping the amount of added perturbation noise as little as possible. Then, we propose a modified genetic algorithm to generate adversarial samples within a reasonably small number of queries. Our results show that adversarial images generated by our algorithm can successfully mislead the HDC classifier to produce wrong prediction labels with a high probability (i.e., 78% when the HDC classifier uses a fixed majority rule for decision). Finally, we also present two defense strategies -- adversarial training and retraining-- to strengthen the security of HDC classifiers.
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