Enhancing LLM-based Autonomous Driving Agents to Mitigate Perception Attacks

There is a growing interest in integrating Large Language Models (LLMs) with autonomous driving (AD) systems. However, AD systems are vulnerable to attacks against their object detection and tracking (ODT) functions. Unfortunately, our evaluation of four recent LLM agents against ODT attacks shows that the attacks are 63.26% successful in causing them to crash or violate traffic rules due to (1) misleading memory modules that provide past experiences for decision making, (2) limitations of prompts in identifying inconsistencies, and (3) reliance on ground truth perception data. In this paper, we introduce Hudson, a driving reasoning agent that extends prior LLM-based driving systems to enable safer decision making during perception attacks while maintaining effectiveness under benign conditions. Hudson achieves this by first instrumenting the AD software to collect real-time perception results and contextual information from the driving scene. This data is then formalized into a domain-specific language (DSL). To guide the LLM in detecting and making safe control decisions during ODT attacks, Hudson translates the DSL into natural language, along with a list of custom attack detection instructions. Following query execution, Hudson analyzes the LLM's control decision to understand its causal reasoning process. We evaluate the effectiveness of Hudson using a proprietary LLM (GPT-4) and two open-source LLMs (Llama and Gemma) in various adversarial driving scenarios. GPT-4, Llama, and Gemma achieve, on average, an attack detection accuracy of 83. 3%, 63. 6%, and 73. 6%. Consequently, they make safe control decisions in 86.4%, 73.9%, and 80% of the attacks. Our results, following the growing interest in integrating LLMs into AD systems, highlight the strengths of LLMs and their potential to detect and mitigate ODT attacks.

Rethinking How to Evaluate Language Model Jailbreak

Large language models (LLMs) have become increasingly integrated with various applications. To ensure that LLMs do not generate unsafe responses, they are aligned with safeguards that specify what content is restricted. However, such alignment can be bypassed to produce prohibited content using a technique commonly referred to as jailbreak. Different systems have been proposed to perform the jailbreak automatically. These systems rely on evaluation methods to determine whether a jailbreak attempt is successful. However, our analysis reveals that current jailbreak evaluation methods have two limitations. (1) Their objectives lack clarity and do not align with the goal of identifying unsafe responses. (2) They oversimplify the jailbreak result as a binary outcome, successful or not. In this paper, we propose three metrics, safeguard violation, informativeness, and relative truthfulness, to evaluate language model jailbreak. Additionally, we demonstrate how these metrics correlate with the goal of different malicious actors. To compute these metrics, we introduce a multifaceted approach that extends the natural language generation evaluation method after preprocessing the response. We evaluate our metrics on a benchmark dataset produced from three malicious intent datasets and three jailbreak systems. The benchmark dataset is labeled by three annotators. We compare our multifaceted approach with three existing jailbreak evaluation methods. Experiments demonstrate that our multifaceted evaluation outperforms existing methods, with F1 scores improving on average by 17% compared to existing baselines. Our findings motivate the need to move away from the binary view of the jailbreak problem and incorporate a more comprehensive evaluation to ensure the safety of the language model.

Software Engineering for Robotics: Future Research Directions; Report from the 2023 Workshop on Software Engineering for Robotics

Robots are experiencing a revolution as they permeate many aspects of our daily lives, from performing house maintenance to infrastructure inspection, from efficiently warehousing goods to autonomous vehicles, and more. This technical progress and its impact are astounding. This revolution, however, is outstripping the capabilities of existing software development processes, techniques, and tools, which largely have remained unchanged for decades. These capabilities are ill-suited to handling the challenges unique to robotics software such as dealing with a wide diversity of domains, heterogeneous hardware, programmed and learned components, complex physical environments captured and modeled with uncertainty, emergent behaviors that include human interactions, and scalability demands that span across multiple dimensions. Looking ahead to the need to develop software for robots that are ever more ubiquitous, autonomous, and reliant on complex adaptive components, hardware, and data, motivated an NSF-sponsored community workshop on the subject of Software Engineering for Robotics, held in Detroit, Michigan in October 2023. The goal of the workshop was to bring together thought leaders across robotics and software engineering to coalesce a community, and identify key problems in the area of SE for robotics that that community should aim to solve over the next 5 years. This report serves to summarize the motivation, activities, and findings of that workshop, in particular by articulating the challenges unique to robot software, and identifying a vision for fruitful near-term research directions to tackle them.

Can Large Language Models Provide Security & Privacy Advice? Measuring the Ability of LLMs to Refute Misconceptions

Users seek security & privacy (S&P) advice from online resources, including trusted websites and content-sharing platforms. These resources help users understand S&P technologies and tools and suggest actionable strategies. Large Language Models (LLMs) have recently emerged as trusted information sources. However, their accuracy and correctness have been called into question. Prior research has outlined the shortcomings of LLMs in answering multiple-choice questions and user ability to inadvertently circumvent model restrictions (e.g., to produce toxic content). Yet, the ability of LLMs to provide reliable S&P advice is not well-explored. In this paper, we measure their ability to refute popular S&P misconceptions that the general public holds. We first study recent academic literature to curate a dataset of over a hundred S&P-related misconceptions across six different topics. We then query two popular LLMs (Bard and ChatGPT) and develop a labeling guide to evaluate their responses to these misconceptions. To comprehensively evaluate their responses, we further apply three strategies: query each misconception multiple times, generate and query their paraphrases, and solicit source URLs of the responses. Both models demonstrate, on average, a 21.3% non-negligible error rate, incorrectly supporting popular S&P misconceptions. The error rate increases to 32.6% when we repeatedly query LLMs with the same or paraphrased misconceptions. We also expose that models may partially support a misconception or remain noncommittal, refusing a firm stance on misconceptions. Our exploration of information sources for responses revealed that LLMs are susceptible to providing invalid URLs (21.2% for Bard and 67.7% for ChatGPT) or point to unrelated sources (44.2% returned by Bard and 18.3% by ChatGPT).

New Metrics to Evaluate the Performance and Fairness of Personalized Federated Learning

In Federated Learning (FL), the clients learn a single global model (FedAvg) through a central aggregator. In this setting, the non-IID distribution of the data across clients restricts the global FL model from delivering good performance on the local data of each client. Personalized FL aims to address this problem by finding a personalized model for each client. Recent works widely report the average personalized model accuracy on a particular data split of a dataset to evaluate the effectiveness of their methods. However, considering the multitude of personalization approaches proposed, it is critical to study the per-user personalized accuracy and the accuracy improvements among users with an equitable notion of fairness. To address these issues, we present a set of performance and fairness metrics intending to assess the quality of personalized FL methods. We apply these metrics to four recently proposed personalized FL methods, PersFL, FedPer, pFedMe, and Per-FedAvg, on three different data splits of the CIFAR-10 dataset. Our evaluations show that the personalized model with the highest average accuracy across users may not necessarily be the fairest. Our code is available at https://tinyurl.com/1hp9ywfa for public use.

What Do You See? Evaluation of Explainable Artificial Intelligence Interpretability through Neural Backdoors

EXplainable AI (XAI) methods have been proposed to interpret how a deep neural network predicts inputs through model saliency explanations that highlight the parts of the inputs deemed important to arrive a decision at a specific target. However, it remains challenging to quantify correctness of their interpretability as current evaluation approaches either require subjective input from humans or incur high computation cost with automated evaluation. In this paper, we propose backdoor trigger patterns--hidden malicious functionalities that cause misclassification--to automate the evaluation of saliency explanations. Our key observation is that triggers provide ground truth for inputs to evaluate whether the regions identified by an XAI method are truly relevant to its output. Since backdoor triggers are the most important features that cause deliberate misclassification, a robust XAI method should reveal their presence at inference time. We introduce three complementary metrics for systematic evaluation of explanations that an XAI method generates and evaluate seven state-of-the-art model-free and model-specific posthoc methods through 36 models trojaned with specifically crafted triggers using color, shape, texture, location, and size. We discovered six methods that use local explanation and feature relevance fail to completely highlight trigger regions, and only a model-free approach can uncover the entire trigger region.

Real-time Analysis of Privacy-aware IoT Applications

Users trust IoT apps to control and automate their smart devices. These apps necessarily have access to sensitive data to implement their functionality. However, users lack visibility into how their sensitive data is used (or leaked), and they often blindly trust the app developers. In this paper, we present IoTWatcH, a novel dynamic analysis tool that uncovers the privacy risks of IoT apps in real-time. We designed and built IoTWatcH based on an IoT privacy survey that considers the privacy needs of IoT users. IoTWatcH provides users with a simple interface to specify their privacy preferences with an IoT app. Then, in runtime, it analyzes both the data that is sent out of the IoT app and its recipients using Natural Language Processing (NLP) techniques. Moreover, IoTWatcH informs the users with its findings to make them aware of the privacy risks with the IoT app. We implemented IoTWatcH on real IoT applications. Specifically, we analyzed 540 IoT apps to train the NLP model and evaluate its effectiveness. IoTWatcH successfully classifies IoT app data sent to external parties to correct privacy labels with an average accuracy of 94.25%, and flags IoT apps that leak privacy data to unauthorized parties. Finally, IoTWatcH yields minimal overhead to an IoT app's execution, on average 105 ms additional latency.

Detection under Privileged Information

For well over a quarter century, detection systems have been driven by models learned from input features collected from real or simulated environments. An artifact (e.g., network event, potential malware sample, suspicious email) is deemed malicious or non-malicious based on its similarity to the learned model at runtime. However, the training of the models has been historically limited to only those features available at runtime. In this paper, we consider an alternate learning approach that trains models using "privileged" information--features available at training time but not at runtime--to improve the accuracy and resilience of detection systems. In particular, we adapt and extend recent advances in knowledge transfer, model influence, and distillation to enable the use of forensic or other data unavailable at runtime in a range of security domains. An empirical evaluation shows that privileged information increases precision and recall over a system with no privileged information: we observe up to 7.7% relative decrease in detection error for fast-flux bot detection, 8.6% for malware traffic detection, 7.3% for malware classification, and 16.9% for face recognition. We explore the limitations and applications of different privileged information techniques in detection systems. Such techniques provide a new means for detection systems to learn from data that would otherwise not be available at runtime.

Patient-Driven Privacy Control through Generalized Distillation

The introduction of data analytics into medicine has changed the nature of patient treatment. In this, patients are asked to disclose personal information such as genetic markers, lifestyle habits, and clinical history. This data is then used by statistical models to predict personalized treatments. However, due to privacy concerns, patients often desire to withhold sensitive information. This self-censorship can impede proper diagnosis and treatment, which may lead to serious health complications and even death over time. In this paper, we present privacy distillation, a mechanism which allows patients to control the type and amount of information they wish to disclose to the healthcare providers for use in statistical models. Meanwhile, it retains the accuracy of models that have access to all patient data under a sufficient but not full set of privacy-relevant information. We validate privacy distillation using a corpus of patients prescribed to warfarin for a personalized dosage. We use a deep neural network to implement privacy distillation for training and making dose predictions. We find that privacy distillation with sufficient privacy-relevant information i) retains accuracy almost as good as having all patient data (only 3\% worse), and ii) is effective at preventing errors that introduce health-related risks (only 3.9\% worse under- or over-prescriptions).

Practical Black-Box Attacks against Machine Learning

Machine learning (ML) models, e.g., deep neural networks (DNNs), are vulnerable to adversarial examples: malicious inputs modified to yield erroneous model outputs, while appearing unmodified to human observers. Potential attacks include having malicious content like malware identified as legitimate or controlling vehicle behavior. Yet, all existing adversarial example attacks require knowledge of either the model internals or its training data. We introduce the first practical demonstration of an attacker controlling a remotely hosted DNN with no such knowledge. Indeed, the only capability of our black-box adversary is to observe labels given by the DNN to chosen inputs. Our attack strategy consists in training a local model to substitute for the target DNN, using inputs synthetically generated by an adversary and labeled by the target DNN. We use the local substitute to craft adversarial examples, and find that they are misclassified by the targeted DNN. To perform a real-world and properly-blinded evaluation, we attack a DNN hosted by MetaMind, an online deep learning API. We find that their DNN misclassifies 84.24% of the adversarial examples crafted with our substitute. We demonstrate the general applicability of our strategy to many ML techniques by conducting the same attack against models hosted by Amazon and Google, using logistic regression substitutes. They yield adversarial examples misclassified by Amazon and Google at rates of 96.19% and 88.94%. We also find that this black-box attack strategy is capable of evading defense strategies previously found to make adversarial example crafting harder.