Advswap: Covert Adversarial Perturbation with High Frequency Info-Swapping for Autonomous Driving Perception
Bibliographic record
Abstract
Perception module of Autonomous vehicles (AVs) are increasingly susceptible to be attacked, which exploit vulnerabilities in neural networks through adversarial inputs, thereby compromising the AI safety. Some researches focus on creating covert adversarial samples, but existing global noise techniques are detectable and difficult to deceive the human visual system. This paper introduces a novel adversarial attack method, AdvSwap, which creatively utilizes wavelet-based highfrequency information swapping to generate covert adversarial samples and fool the camera. AdvSwap employs invertible neural network for selective high-frequency information swapping, preserving both forward propagation and data integrity. The scheme effectively removes the original label data and incorporates the guidance image data, producing concealed and robust adversarial samples. Experimental evaluations and comparisons on the GTSRB and nuScenes datasets demonstrate that AdvSwap can make concealed attacks on common traffic targets. The generates adversarial samples are also difficult to perceive by humans and algorithms. Meanwhile, the method has strong attacking robustness and attacking transferability.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".