arXiv subjects

Yuxin Cao

Publications and source records attributed to Yuxin Cao.

At least 19 recordsLinked to original sources

arXiv2026

Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling

Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise keep-out regions. This representation can be unnecessarily restrictive for hazards that depend on a joint spatial relation, such as battery recycling, where a conductive payload can short a charged cell only when it approaches both terminals simultaneously. We study runtime filtering for this two-terminal hazard in LIBERO using frozen OpenVLA policies. We factor a runtime filter into three design choices: the predicate structure, its geometric margin, and the fallback action applied when a commanded action is rejected. We compare a conjunctive predicate, a conventional two-site keep-out, and a composite of the two. For each predicate, we vary its margin to obtain a frontier between task success and residual hazard. We then compare four fallback strategies at matched operating points: holding, retreat, sampled search, and a continuous-action barrier projection. Across three workcells, the three predicate families trace nearly identical safety--utility frontiers once each is evaluated over its own margin. In contrast, the fallback strategy has a substantially larger effect: holding reduces task success by up to 0.302 relative to retreat without reducing hazard, while both minimally invasive fallbacks leave substantially more residual hazard. This ordering transfers to a second policy and task suite, while retreat-based filtering remains effective under standing errors in the clearances available to the filter, although correlated error in the estimated payload size is more damaging than larger independent errors in terminal position. These results show that, for proximity-defined manipulation hazards, margin selection and fallback strategy can matter more than predicate structure in determining the safety--utility trade-off of a runtime filter.

cs.RO↗

arXiv2026

Beyond Patch Removal: Persistent Adversarial Effects in Vision-Language-Action Policies

Adversarial patches to Vision-Language-Action (VLA) policies can cause both immediate action corruption and persistent state effects that remain after the patch is removed. Existing evaluations largely focus on continuous attacks and do not separate these two effects. We introduce a state-restoration protocol that removes the patch at matched action-chunk boundaries and measures subsequent recoverability under the same remaining step budget. Clean, random-patch, deviation-matched, and fixed-direction controls distinguish adversarial effects from occlusion, action-error magnitude, and directional persistence. We also evaluate a recovery adapter trained on attack-induced states under controlled intervention latency. On OpenVLA-OFT with EDPA attacks, only 36.2% of LIBERO-Long episodes remain recoverable after five chunks, compared with 89.9% and 87.0% for the deviation-matched and fixed-direction controls. Similar persistent effects are observed on autoregressive OpenVLA. The recovery adapter improves recovery from 7.7% to 47.4% at one-chunk latency, but its benefit decreases substantially with delayed intervention. These results show that adversarial effects can persist after patch removal and that timely intervention is critical for recovery.

cs.CV↗

arXiv2026

Do Input-Level Defenses Transfer to Observation-Level Attacks on VideoLLMs?

Video Large Language Models (VideoLLMs) are increasingly deployed in safety-critical applications such as content moderation and video analytics. To process long videos efficiently, VideoLLMs rely on frame sampling, token compression, and modality fusion, which together form an observation pipeline that reduces the raw video to a compact internal representation. Recent observation-level attacks exploit this pipeline to prevent the model from perceiving harmful content, yet no defense has been explicitly designed for this threat. We introduce DefTEval, a controlled evaluation framework that systematically assesses whether input-level adversarial defenses, which operate on the pixel content of already-sampled frames, can mitigate observation-level attacks. Across five VideoLLMs, eleven representative defenses, and five attack types, we find that input-level defenses offer limited and inconsistent protection, with harmful detection rates frequently near zero. Critically, defenses fail even against attacks that embed harmful signals in every sampled frame, indicating that the bottleneck extends beyond sampling omission to the suppression of signals that do enter the model. Token compression discards localized features, and modality fusion systematically down-weights weakened visual signals. Furthermore, defense effectiveness is dominated by model architecture rather than by the defense method itself, and detection rates vary drastically across content categories, exposing structural weaknesses in temporal reasoning. These findings demonstrate that securing VideoLLMs requires system-level robustness mechanisms spanning sampling-aware coverage guarantees, token-level preservation of safety-relevant features, and modality-balanced fusion.

cs.CV↗

arXiv2026

Caved or Convinced: Temporal Sampling Gates Claim Deference in Video Large Language Models

When asked which of two events came first, video large language models can fail in two opposite ways: cave to a false claim, or reject a true one. Prior video sycophancy work measures only the first and mitigates it by teaching the model to trust the user less, a fix known in text and image models to worsen the second. In video, both failures come from two causes the literature treats as one: availability, whether the sparse sampled frames contain the two events, and weighting, whether that evidence is trusted over the user. We separate them with two interventions that keep the claim fixed: a frame-preserving reorder that flips the claim's truth, and a sampling-offset shift that captures or misses both events at a fixed frame budget. When the events are missed, the two twins present identical frames, so each of the nine models we evaluate accepts a true and a false claim at the same rate, making Youden's $J=0$ by construction. Availability is necessary but not sufficient. Five of the nine read the order, yet four of those five still cave to the false claim, so their deference hits a weighting ceiling. Since trust cannot be calibrated over evidence that was never sampled, we propose a reversal test that cancels the model's order prior by scoring the sampled frames forward and reversed, then answers, resamples, or abstains without reading the claim. The test raises the order accuracy to 0.92-1.00 on the models that read the order and abstains rather than guesses on those that cannot.

cs.MM↗

arXiv2026

SpreadMark: Robust Image Watermarking via Spread-Spectrum Embedding

Invisible image watermarks are increasingly used for deepfake detection and provenance tracking, where they must survive not only incidental distortions but also deliberate removal. We revisit spread-spectrum embedding, a classical watermarking principle, inside a modern neural post-hoc watermarking architecture. Our starting point is a measurement: in existing encoder-decoder schemes each message bit occupies only a small fraction of the image, a shared contributing factor to their fragility, since removal then need only disturb the region a bit occupies. SpreadMark instead spreads each bit as a dense pseudo-random codeword over the whole image and recovers it by matched-filtering a learned cover-suppressed chip representation, with a parallel convolutional decoding path and sparsification-aware training. A conditional chip-space analysis shows that, under a codeword-independent perturbation model, dense spreading increases the budget required to disrupt matched-filter recovery. Evaluated on COCO and DIV2K against nine schemes, SpreadMark is the only evaluated method retaining high detection under both the regeneration and the latent-space sparsification settings we test, with competitive JPEG and additive-noise robustness. It keeps the embedded watermark imperceptible, maintaining high perceptual quality on both COCO and DIV2K.

cs.CR↗

arXiv2026

Poisoning Prompt-Guided Sampling in Video Large Language Models

Video Large Language Models (VideoLLMs) are increasingly deployed as automated moderators on user-generated video platforms, where a few unwatched seconds of harmful footage are enough to suppress a safety alert. Because encoding every frame is prohibitive, modern VideoLLMs rely on prompt-guided sampling (PGS), which scores frames against the user prompt and forwards only the top-ranked ones to the visual encoder. Uniform and semantic samplers are known to be defeated by simple frame replacement, whereas PGS, the most prompt-aware family, has escaped scrutiny, and its prompt awareness in fact repairs the omission failures that defeat the other two. We show that this repair is superficial, since PoisonVID, a transfer attack, poisons the sampler's ranking so that harmful clips are never surfaced, without access to target weights, gradients, or sampling internals. It optimizes one video-level perturbation under a relevance-suppression loss defined over a depiction set of paraphrased harmful descriptions written by a shadow VideoLLM and a general-purpose language model, which drives perturbed harmful frames out of the prompt-conditioned subspace that PGS reads. Samplers that never consult that score keep the frames they always kept, which locates the failure at selection rather than at the encoder. Across three PGS methods, six VideoLLMs, and six harmful categories, PoisonVID attains 84% to 97% average attack success over the 18 sampler and model pairs and survives seven defenses. Re-encoding at lower resolution on ingest gives back part of what was evicted and costs the attack 48 points, which bounds the threat without closing it. PGS therefore buys accuracy with a structural safety debt, and sampler design will now have to repay that.

cs.CV↗

arXiv2026

Query-Efficient Video Adversarial Attack with Stylized Logo on Service Computing

In service computing, video classification has become fundamental to many intelligent applications. While Deep Neural Networks (DNNs) have demonstrated excellent performance in recognizing video content, recent studies have shown that DNNs are highly vulnerable to adversarial examples. Thus, understanding adversarial attacks can better respond to emergency situations. In order to improve attack performance, many style-transfer-based attacks and patch-based attacks have been proposed. However, the global perturbation of the former will bring unnatural global colors, while the latter is difficult to achieve success in targeted attacks due to the limited perturbation space. Moreover, compared to a plethora of methods targeting image classifiers, video adversarial attacks remain relatively underexplored. Therefore, to generate adversarial examples with a low budget and to provide them with a higher verisimilitude, we propose a novel black-box video attack framework, called Stylized Logo Attack (SLA). SLA is conducted through three stages. The first stage involves building a style reference set for logos, which can not only make the generated examples more natural, but also carry more target class features in targeted attacks. Then, Reinforcement Learning is employed to determine the style reference and position parameters of the logo within the video, which ensures that the stylized logo is placed in the video with optimal attributes. Finally, perturbations are optimized in a step-by-step manner so as to improve the fooling rate. Experimental results indicate that SLA can achieve better performance than state-of-the-art methods and still maintain good deception effects when facing various defense methods. We believe SLA can raise awareness among the security community about the reliability and security of video classification systems and serve as a memorandum of possible attack methods.

cs.CV↗

arXiv2026

Membership Inference Attacks Against Video Large Language Models

Video large language models (VideoLLMs) are increasingly trained or instruction-tuned on large-scale video--text corpora collected from heterogeneous sources, raising an immediate privacy question: can an external auditor determine whether a particular video was used during training? While membership inference attacks (MIAs) have been studied extensively for classifiers and, more recently, for text and image generation models, the VideoLLM setting remains unexplored. This setting is challenging because black-box auditors observe only generated text, whereas the membership signal is entangled with video-specific factors such as motion complexity and temporal span. In this paper, we present a black-box MIA targeting VideoLLMs that couples temperature-perturbed generation with video-aware difficulty features. Our key intuition is that member samples tend to induce sharper, more brittle generation behavior across decoding temperatures, and that this signal should be interpreted jointly with the intrinsic difficulty of the queried video. Concretely, we query the target model at low and high temperatures, measure the semantic drift between the resulting texts. We evaluate the attack against \texttt{LLaVA-Video-7B-Qwen2-Video-Only} and achieve a member inference AUC of 0.68 and accuracy of 0.63. These results demonstrate that Video-LLMs are vulnerable to black-box membership inference attacks, highlighting an urgent need for the community to systematically evaluate and mitigate privacy risks in VideoLLMs.

cs.CR↗

arXiv2026

DUAP: Dual-task Universal Adversarial Perturbations Against Voice Control Systems

Modern Voice Control Systems (VCS) rely on the collaboration of Automatic Speech Recognition (ASR) and Speaker Recognition (SR) for secure interaction. However, prior adversarial attacks typically target these tasks in isolation, overlooking the coupled decision pipeline in real-world scenarios. Consequently, single-task attacks often fail to pose a practical threat. To fill this gap, we first utilize gradient analysis to reveal that ASR and SR exhibit no inherent conflicts. Building on this, we propose Dual-task Universal Adversarial Perturbation (DUAP). Specifically, DUAP employs a targeted surrogate objective to effectively disrupt ASR transcription and introduces a Dynamic Normalized Ensemble (DNE) strategy to enhance transferability across diverse SR models. Furthermore, we incorporate psychoacoustic masking to ensure perturbation imperceptibility. Extensive evaluations across five ASR and six SR models demonstrate that DUAP achieves high simultaneous attack success rates and superior imperceptibility, significantly outperforming existing single-task baselines.

cs.CR↗

arXiv2026

Towards Stealthy and Effective Backdoor Attacks on Lane Detection: A Naturalistic Data Poisoning Approach

Deep learning-based lane detection (LD) plays a critical role in autonomous driving and advanced driver assistance systems. However, its vulnerability to backdoor attacks presents a significant security concern. Existing backdoor attack methods on LD often exhibit limited practical utility due to the artificial and conspicuous nature of their triggers. To address this limitation and investigate the impact of more ecologically valid backdoor attacks on LD models, we examine the common data poisoning attack and introduce DBALD, a novel diffusion-based data poisoning framework for generating naturalistic backdoor triggers. DBALD comprises two key components: optimal trigger position finding and stealthy trigger generation. Given the insight that attack performance varies depending on the trigger position, we propose a heatmap-based method to identify the optimal trigger location, with gradient analysis to generate attack-specific heatmaps. A region-based editing diffusion process is then applied to synthesize visually plausible triggers within the most susceptible regions identified previously. Furthermore, to ensure scene integrity and stealthy attacks, we introduce two loss strategies: one for preserving lane structure and another for maintaining the consistency of the driving scene. Consequently, compared to existing attack methods, DBALD achieves both a high attack success rate and superior stealthiness. Extensive experiments on 4 mainstream LD models show that DBALD exceeds state-of-the-art methods, with an average success rate improvement of +10.87% and significantly enhanced stealthiness. The experimental results highlight significant practical challenges in ensuring model robustness against real-world backdoor threats in LD.

cs.CR↗

arXiv2026

VideoSTF: Stress-Testing Output Repetition in Video Large Language Models

Video Large Language Models (VideoLLMs) have recently achieved strong performance in video understanding tasks. However, we identify a previously underexplored generation failure: severe output repetition, where models degenerate into self-reinforcing loops of repeated phrases or sentences. This failure mode is not captured by existing VideoLLM benchmarks, which focus primarily on task accuracy and factual correctness. We introduce VideoSTF, the first framework for systematically measuring and stress-testing output repetition in VideoLLMs. VideoSTF formalizes repetition using three complementary n-gram-based metrics and provides a standardized testbed of 10,000 diverse videos together with a library of controlled temporal transformations. Using VideoSTF, we conduct pervasive testing, temporal stress testing, and adversarial exploitation across 10 advanced VideoLLMs. We find that output repetition is widespread and, critically, highly sensitive to temporal perturbations of video inputs. Moreover, we show that simple temporal transformations can efficiently induce repetitive degeneration in a black-box setting, exposing output repetition as an exploitable security vulnerability. Our results reveal output repetition as a fundamental stability issue in modern VideoLLMs and motivate stability-aware evaluation for video-language systems. Our evaluation code and scripts are available at: https://github.com/yuxincao22/VideoSTF_benchmark.

cs.CV↗

arXiv2025

Bones of Contention: Exploring Query-Efficient Attacks against Skeleton Recognition Systems

Skeleton action recognition models have secured more attention than video-based ones in various applications due to privacy preservation and lower storage requirements. Skeleton data are typically transmitted to cloud servers for action recognition, with results returned to clients via Apps/APIs. However, the vulnerability of skeletal models against adversarial perturbations gradually reveals the unreliability of these systems. Existing black-box attacks all operate in a decision-based manner, resulting in numerous queries that hinder efficiency and feasibility in real-world applications. Moreover, all attacks off the shelf focus on only restricted perturbations, while ignoring model weaknesses when encountered with non-semantic perturbations. In this paper, we propose two query-effIcient Skeletal Adversarial AttaCks, ISAAC-K and ISAAC-N. As a black-box attack, ISAAC-K utilizes Grad-CAM in a surrogate model to extract key joints where minor sparse perturbations are then added to fool the classifier. To guarantee natural adversarial motions, we introduce constraints of both bone length and temporal consistency. ISAAC-K finds stronger adversarial examples on the $\ell_\infty$ norm, which can encompass those on other norms. Exhaustive experiments substantiate that ISAAC-K can uplift the attack efficiency of the perturbations under 10 skeletal models. Additionally, as a byproduct, ISAAC-N fools the classifier by replacing skeletons unrelated to the action. We surprisingly find that skeletal models are vulnerable to large perturbations where the part-wise non-semantic joints are just replaced, leading to a query-free no-box attack without any prior knowledge. Based on that, four adaptive defenses are eventually proposed to improve the robustness of skeleton recognition models.

cs.CR↗

arXiv2025

Failures to Surface Harmful Contents in Video Large Language Models

Video Large Language Models (VideoLLMs) are increasingly deployed on numerous critical applications, where users rely on auto-generated summaries while casually skimming the video stream. We show that this interaction hides a critical safety gap: if harmful content is embedded in a video, either as full-frame inserts or as small corner patches, state-of-the-art VideoLLMs rarely mention the harmful content in the output, despite its clear visibility to human viewers. A root-cause analysis reveals three compounding design flaws: (1) insufficient temporal coverage resulting from the sparse, uniformly spaced frame sampling used by most leading VideoLLMs, (2) spatial information loss introduced by aggressive token downsampling within sampled frames, and (3) encoder-decoder disconnection, whereby visual cues are only weakly utilized during text generation. Leveraging these insights, we craft three zero-query black-box attacks, aligning with these flaws in the processing pipeline. Our large-scale evaluation across five leading VideoLLMs shows that the harmfulness omission rate exceeds 90% in most cases. Even when harmful content is clearly present in all frames, these models consistently fail to identify it. These results underscore a fundamental vulnerability in current VideoLLMs' designs and highlight the urgent need for sampling strategies, token compression, and decoding mechanisms that guarantee semantic coverage rather than speed alone.

cs.MM↗

arXiv2025

E2E-VGuard: Adversarial Prevention for Production LLM-based End-To-End Speech Synthesis

Recent advancements in speech synthesis technology have enriched our daily lives, with high-quality and human-like audio widely adopted across real-world applications. However, malicious exploitation like voice-cloning fraud poses severe security risks. Existing defense techniques struggle to address the production large language model (LLM)-based speech synthesis. While previous studies have considered the protection for fine-tuning synthesizers, they assume manually annotated transcripts. Given the labor intensity of manual annotation, end-to-end (E2E) systems leveraging automatic speech recognition (ASR) to generate transcripts are becoming increasingly prevalent, e.g., voice cloning via commercial APIs. Therefore, this E2E speech synthesis also requires new security mechanisms. To tackle these challenges, we propose E2E-VGuard, a proactive defense framework for two emerging threats: (1) production LLM-based speech synthesis, and (2) the novel attack arising from ASR-driven E2E scenarios. Specifically, we employ the encoder ensemble with a feature extractor to protect timbre, while ASR-targeted adversarial examples disrupt pronunciation. Moreover, we incorporate the psychoacoustic model to ensure perturbative imperceptibility. For a comprehensive evaluation, we test 16 open-source synthesizers and 3 commercial APIs across Chinese and English datasets, confirming E2E-VGuard's effectiveness in timbre and pronunciation protection. Real-world deployment validation is also conducted. Our code and demo page are available at https://wxzyd123.github.io/e2e-vguard/.

cs.SD↗

arXiv2025

ALMGuard: Safety Shortcuts and Where to Find Them as Guardrails for Audio-Language Models

Recent advances in Audio-Language Models (ALMs) have significantly improved multimodal understanding capabilities. However, the introduction of the audio modality also brings new and unique vulnerability vectors. Previous studies have proposed jailbreak attacks that specifically target ALMs, revealing that defenses directly transferred from traditional audio adversarial attacks or text-based Large Language Model (LLM) jailbreaks are largely ineffective against these ALM-specific threats. To address this issue, we propose ALMGuard, the first defense framework tailored to ALMs. Based on the assumption that safety-aligned shortcuts naturally exist in ALMs, we design a method to identify universal Shortcut Activation Perturbations (SAPs) that serve as triggers that activate the safety shortcuts to safeguard ALMs at inference time. To better sift out effective triggers while preserving the model's utility on benign tasks, we further propose Mel-Gradient Sparse Mask (M-GSM), which restricts perturbations to Mel-frequency bins that are sensitive to jailbreaks but insensitive to speech understanding. Both theoretical analyses and empirical results demonstrate the robustness of our method against both seen and unseen attacks. Overall, \MethodName reduces the average success rate of advanced ALM-specific jailbreak attacks to 4.6% across four models, while maintaining comparable utility on benign benchmarks, establishing it as the new state of the art. Our code and data are available at https://github.com/WeifeiJin/ALMGuard.

cs.SD↗

arXiv2025

Mirage Fools the Ear, Mute Hides the Truth: Precise Targeted Adversarial Attacks on Polyphonic Sound Event Detection Systems

Sound Event Detection (SED) systems are increasingly deployed in safety-critical applications such as industrial monitoring and audio surveillance. However, their robustness against adversarial attacks has not been well explored. Existing audio adversarial attacks targeting SED systems, which incorporate both detection and localization capabilities, often lack effectiveness due to SED's strong contextual dependencies or lack precision by focusing solely on misclassifying the target region as the target event, inadvertently affecting non-target regions. To address these challenges, we propose the Mirage and Mute Attack (M2A) framework, which is designed for targeted adversarial attacks on polyphonic SED systems. In our optimization process, we impose specific constraints on the non-target output, which we refer to as preservation loss, ensuring that our attack does not alter the model outputs for non-target region, thus achieving precise attacks. Furthermore, we introduce a novel evaluation metric Editing Precison (EP) that balances effectiveness and precision, enabling our method to simultaneously enhance both. Comprehensive experiments show that M2A achieves 94.56% and 99.11% EP on two state-of-the-art SED models, demonstrating that the framework is sufficiently effective while significantly enhancing attack precision.

cs.CR↗

arXiv2025

Towards Powerful and Practical Patch Attacks for 2D Object Detection in Autonomous Driving

Learning-based autonomous driving systems remain critically vulnerable to adversarial patches, posing serious safety and security risks in their real-world deployment. Black-box attacks, notable for their high attack success rate without model knowledge, are especially concerning, with their transferability extensively studied to reduce computational costs compared to query-based attacks. Previous transferability-based black-box attacks typically adopt mean Average Precision (mAP) as the evaluation metric and design training loss accordingly. However, due to the presence of multiple detected bounding boxes and the relatively lenient Intersection over Union (IoU) thresholds, the attack effectiveness of these approaches is often overestimated, resulting in reduced success rates in practical attacking scenarios. Furthermore, patches trained on low-resolution data often fail to maintain effectiveness on high-resolution images, limiting their transferability to autonomous driving datasets. To fill this gap, we propose P$^3$A, a Powerful and Practical Patch Attack framework for 2D object detection in autonomous driving, specifically optimized for high-resolution datasets. First, we introduce a novel metric, Practical Attack Success Rate (PASR), to more accurately quantify attack effectiveness with greater relevance for pedestrian safety. Second, we present a tailored Localization-Confidence Suppression Loss (LCSL) to improve attack transferability under PASR. Finally, to maintain the transferability for high-resolution datasets, we further incorporate the Probabilistic Scale-Preserving Padding (PSPP) into the patch attack pipeline as a data preprocessing step. Extensive experiments show that P$^3$A outperforms state-of-the-art attacks on unseen models and unseen high-resolution datasets, both under the proposed practical IoU-based evaluation metric and the previous mAP-based metrics.

cs.CV↗

arXiv2025

Intriguing Frequency Interpretation of Adversarial Robustness for CNNs and ViTs

Adversarial examples have attracted significant attention over the years, yet understanding their frequency-based characteristics remains insufficient. In this paper, we investigate the intriguing properties of adversarial examples in the frequency domain for the image classification task, with the following key findings. (1) As the high-frequency components increase, the performance gap between adversarial and natural examples becomes increasingly pronounced. (2) The model performance against filtered adversarial examples initially increases to a peak and declines to its inherent robustness. (3) In Convolutional Neural Networks, mid- and high-frequency components of adversarial examples exhibit their attack capabilities, while in Transformers, low- and mid-frequency components of adversarial examples are particularly effective. These results suggest that different network architectures have different frequency preferences and that differences in frequency components between adversarial and natural examples may directly influence model robustness. Based on our findings, we further conclude with three useful proposals that serve as a valuable reference to the AI model security community.

cs.CV↗