Searcharxiv⌕ Search

arXiv subjects

Z. Morley Mao

Publications and source records attributed to Z. Morley Mao.

At least 37 records · Page 2Linked to original sources

LLM Safeguard is a Double-Edged Sword: Exploiting False Positives for Denial-of-Service Attacks

Safety is a paramount concern for large language models (LLMs) in open deployment, motivating the development of safeguard methods that enforce ethical and responsible use through safety alignment or guardrail mechanisms. Jailbreak attacks that exploit the \emph{false negatives} of safeguard methods have emerged as a prominent research focus in the field of LLM security. However, we found that the malicious attackers could also exploit false positives of safeguards, i.e., fooling the safeguard model to block safe content mistakenly, leading to a denial-of-service (DoS) affecting LLM users. To bridge the knowledge gap of this overlooked threat, we explore multiple attack methods that include inserting a short adversarial prompt into user prompt templates and corrupting the LLM on the server by poisoned fine-tuning. In both ways, the attack triggers safeguard rejections of user requests from the client. Our evaluation demonstrates the severity of this threat across multiple scenarios. For instance, in the scenario of white-box adversarial prompt injection, the attacker can use our optimization process to automatically generate seemingly safe adversarial prompts, approximately only 30 characters long, that universally block over 97% of user requests on Llama Guard 3. These findings reveal a new dimension in LLM safeguard evaluation -- adversarial robustness to false positives.

cs.CR↗

HeterMoE: Efficient Training of Mixture-of-Experts Models on Heterogeneous GPUs

The Mixture-of-Experts (MoE) architecture has become increasingly popular as a method to scale up large language models (LLMs). To save costs, heterogeneity-aware training solutions have been proposed to utilize GPU clusters made up of both newer and older-generation GPUs. However, existing solutions are agnostic to the performance characteristics of different MoE model components (i.e., attention and expert) and do not fully utilize each GPU's compute capability. In this paper, we introduce HeterMoE, a system to efficiently train MoE models on heterogeneous GPUs. Our key insight is that newer GPUs significantly outperform older generations on attention due to architectural advancements, while older GPUs are still relatively efficient for experts. HeterMoE disaggregates attention and expert computation, where older GPUs are only assigned with expert modules. Through the proposed zebra parallelism, HeterMoE overlaps the computation on different GPUs, in addition to employing an asymmetric expert assignment strategy for fine-grained load balancing to minimize GPU idle time. Our evaluation shows that HeterMoE achieves up to 2.3x speed-up compared to existing MoE training systems, and 1.4x compared to an optimally balanced heterogeneity-aware solution. HeterMoE efficiently utilizes older GPUs by maintaining 95% training throughput on average, even with half of the GPUs in a homogeneous A40 cluster replaced with V100.

cs.DC↗

What Would Trojans Do? Exploiting Partial-Information Vulnerabilities in Autonomous Vehicle Sensing

Safety-critical sensors in autonomous vehicles (AVs) form an essential part of the vehicle's trusted computing base (TCB), yet they are highly susceptible to attacks. Alarmingly, Tier 1 manufacturers have already exposed vulnerabilities to attacks introducing Trojans that can stealthily alter sensor outputs. We analyze the feasible capability and safety-critical outcomes of an attack on sensing at a cyber level. To further address these threats, we design realistic attacks in AV simulators and real-world datasets under two practical constraints: attackers (1) possess only partial information and (2) are constrained by data structures that maintain sensor integrity.Examining the role of camera and LiDAR in multi-sensor AVs, we find that attacks targeting only the camera have minimal safety impact due to the sensor fusion system's strong reliance on 3D data from LiDAR. This reliance makes LiDAR-based attacks especially detrimental to safety. To mitigate the vulnerabilities, we introduce security-aware sensor fusion incorporating (1) a probabilistic data-asymmetry monitor and (2) a scalable track-to-track fusion of 3D LiDAR and monocular detections (T2T-3DLM). We demonstrate that these methods significantly diminish attack success rate.

cs.CR↗

Compute Or Load KV Cache? Why Not Both?

Large Language Models (LLMs) are increasingly deployed in large-scale online services, enabling sophisticated applications. However, the computational overhead of generating key-value (KV) caches in the prefill stage presents a major bottleneck, particularly for long-context inputs. Prefix caching mitigates this issue by storing KV caches for reuse, reducing redundant computation. Despite its advantages, prefix caching suffers from high latency due to the limited I/O bandwidth of storage devices, constraining inference efficiency. To address this challenge, we introduce Cake, a novel KV cache loading system that optimally utilizes both computational and I/O resources in parallel. Cake employs a bidirectional scheduling strategy that dynamically balances KV cache computation and loading, ensuring efficient resource utilization. Additionally, Cake incorporates an adaptive scheduling mechanism that seamlessly integrates with non-prefix caching requests, improving system throughput and adapting to fluctuating resource availabilty. Through extensive evaluations across various hardware configurations, datasets, and storage conditions, Cake achieves on average 2.6x reduction in Time to First Token (TTFT) compared to compute-only and I/O-only methods. Our findings highlight Cake as an effective and practical solution for optimizing long-context LLM inference, bridging the gap between computation and I/O efficiency in large-scale AI deployments.

cs.LG↗

Learn To be Efficient: Build Structured Sparsity in Large Language Models

Large Language Models (LLMs) have achieved remarkable success with their billion-level parameters, yet they incur high inference overheads. The emergence of activation sparsity in LLMs provides a natural approach to reduce this cost by involving only parts of the parameters for inference. However, existing methods only focus on utilizing this naturally formed activation sparsity in a post-training setting, overlooking the potential for further amplifying this inherent sparsity. In this paper, we hypothesize that LLMs can learn to be efficient by achieving more structured activation sparsity. To achieve this, we introduce a novel training algorithm, Learn-To-be-Efficient (LTE), designed to train efficiency-aware LLMs to learn to activate fewer neurons and achieve a better trade-off between sparsity and performance. Furthermore, unlike SOTA MoEfication methods, which mainly focus on ReLU-based models, LTE can also be applied to LLMs like LLaMA using non-ReLU activations. Extensive evaluation on language understanding, language generation, and instruction tuning tasks show that LTE consistently outperforms SOTA baselines. Along with our hardware-aware custom kernel implementation, LTE reduces LLaMA2-7B inference latency by 25% at 50% sparsity.

cs.CL↗

FATH: Authentication-based Test-time Defense against Indirect Prompt Injection Attacks

Large language models (LLMs) have been widely deployed as the backbone with additional tools and text information for real-world applications. However, integrating external information into LLM-integrated applications raises significant security concerns. Among these, prompt injection attacks are particularly threatening, where malicious instructions injected in the external text information can exploit LLMs to generate answers as the attackers desire. While both training-time and test-time defense methods have been developed to mitigate such attacks, the unaffordable training costs associated with training-time methods and the limited effectiveness of existing test-time methods make them impractical. This paper introduces a novel test-time defense strategy, named Formatting AuThentication with Hash-based tags (FATH). Unlike existing approaches that prevent LLMs from answering additional instructions in external text, our method implements an authentication system, requiring LLMs to answer all received instructions with a security policy and selectively filter out responses to user instructions as the final output. To achieve this, we utilize hash-based authentication tags to label each response, facilitating accurate identification of responses according to the user's instructions and improving the robustness against adaptive attacks. Comprehensive experiments demonstrate that our defense method can effectively defend against indirect prompt injection attacks, achieving state-of-the-art performance under Llama3 and GPT3.5 models across various attack methods. Our code is released at: https://github.com/Jayfeather1024/FATH

cs.CR↗

Eagle: Efficient Training-Free Router for Multi-LLM Inference

The proliferation of Large Language Models (LLMs) with varying capabilities and costs has created a need for efficient model selection in AI systems. LLM routers address this need by dynamically choosing the most suitable model for a given query based on task requirements and budget constraints. However, existing routers face challenges in scalability and real-time adaptation, particularly in high-volume online environments. We present Eagle, a novel LLM routing approach that combines global and local ELO ranking modules to overcome these limitations. By evaluating both general and specialized LLM abilities, Eagle provides a scalable, training-free solution that enhances model selection quality while reducing computational overhead. Our experiments across multiple datasets show Eagle consistently outperforms baseline methods, with improvements of up to 23.52 percent in Area Under Curve (AUC) scores. Moreover, Eagle demonstrates remarkable efficiency, requiring only 1/20 of baseline methods' time for initialization and 100 to 200 times faster incremental updates in online scenarios, making it well-suited for dynamic, high-volume online serving environments.

cs.LG↗

Cocoon: Robust Multi-Modal Perception with Uncertainty-Aware Sensor Fusion

An important paradigm in 3D object detection is the use of multiple modalities to enhance accuracy in both normal and challenging conditions, particularly for long-tail scenarios. To address this, recent studies have explored two directions of adaptive approaches: MoE-based adaptive fusion, which struggles with uncertainties arising from distinct object configurations, and late fusion for output-level adaptive fusion, which relies on separate detection pipelines and limits comprehensive understanding. In this work, we introduce Cocoon, an object- and feature-level uncertainty-aware fusion framework. The key innovation lies in uncertainty quantification for heterogeneous representations, enabling fair comparison across modalities through the introduction of a feature aligner and a learnable surrogate ground truth, termed feature impression. We also define a training objective to ensure that their relationship provides a valid metric for uncertainty quantification. Cocoon consistently outperforms existing static and adaptive methods in both normal and challenging conditions, including those with natural and artificial corruptions. Furthermore, we show the validity and efficacy of our uncertainty metric across diverse datasets.

cs.CV↗

QUIC is not Quick Enough over Fast Internet

QUIC is expected to be a game-changer in improving web application performance. In this paper, we conduct a systematic examination of QUIC's performance over high-speed networks. We find that over fast Internet, the UDP+QUIC+HTTP/3 stack suffers a data rate reduction of up to 45.2% compared to the TCP+TLS+HTTP/2 counterpart. Moreover, the performance gap between QUIC and HTTP/2 grows as the underlying bandwidth increases. We observe this issue on lightweight data transfer clients and major web browsers (Chrome, Edge, Firefox, Opera), on different hosts (desktop, mobile), and over diverse networks (wired broadband, cellular). It affects not only file transfers, but also various applications such as video streaming (up to 9.8% video bitrate reduction) and web browsing. Through rigorous packet trace analysis and kernel- and user-space profiling, we identify the root cause to be high receiver-side processing overhead, in particular, excessive data packets and QUIC's user-space ACKs. We make concrete recommendations for mitigating the observed performance issues.

cs.NI↗

CALICO: Self-Supervised Camera-LiDAR Contrastive Pre-training for BEV Perception

Perception is crucial in the realm of autonomous driving systems, where bird's eye view (BEV)-based architectures have recently reached state-of-the-art performance. The desirability of self-supervised representation learning stems from the expensive and laborious process of annotating 2D and 3D data. Although previous research has investigated pretraining methods for both LiDAR and camera-based 3D object detection, a unified pretraining framework for multimodal BEV perception is missing. In this study, we introduce CALICO, a novel framework that applies contrastive objectives to both LiDAR and camera backbones. Specifically, CALICO incorporates two stages: point-region contrast (PRC) and region-aware distillation (RAD). PRC better balances the region- and scene-level representation learning on the LiDAR modality and offers significant performance improvement compared to existing methods. RAD effectively achieves contrastive distillation on our self-trained teacher model. CALICO's efficacy is substantiated by extensive evaluations on 3D object detection and BEV map segmentation tasks, where it delivers significant performance improvements. Notably, CALICO outperforms the baseline method by 10.5% and 8.6% on NDS and mAP. Moreover, CALICO boosts the robustness of multimodal 3D object detection against adversarial attacks and corruption. Additionally, our framework can be tailored to different backbones and heads, positioning it as a promising approach for multimodal BEV perception.

cs.CV↗

ADoPT: LiDAR Spoofing Attack Detection Based on Point-Level Temporal Consistency

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the challenge of LiDAR spoofing attacks, where attackers inject fake objects into LiDAR data and fool AVs to misinterpret their environment and make erroneous decisions. However, current defense algorithms predominantly depend on perception outputs (i.e., bounding boxes) thus face limitations in detecting attackers given the bounding boxes are generated by imperfect perception models processing limited points, acquired based on the ego vehicle's viewpoint. To overcome these limitations, we propose a novel framework, named ADoPT (Anomaly Detection based on Point-level Temporal consistency), which quantitatively measures temporal consistency across consecutive frames and identifies abnormal objects based on the coherency of point clusters. In our evaluation using the nuScenes dataset, our algorithm effectively counters various LiDAR spoofing attacks, achieving a low (< 10%) false positive ratio (FPR) and high (> 85%) true positive ratio (TPR), outperforming existing state-of-the-art defense methods, CARLO and 3D-TC2. Furthermore, our evaluation demonstrates the promising potential for accurate attack detection across various road environments.

cs.CV↗

On Data Fabrication in Collaborative Vehicular Perception: Attacks and Countermeasures

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.

cs.CR↗

VPA: Fully Test-Time Visual Prompt Adaptation

Textual prompt tuning has demonstrated significant performance improvements in adapting natural language processing models to a variety of downstream tasks by treating hand-engineered prompts as trainable parameters. Inspired by the success of textual prompting, several studies have investigated the efficacy of visual prompt tuning. In this work, we present Visual Prompt Adaptation (VPA), the first framework that generalizes visual prompting with test-time adaptation. VPA introduces a small number of learnable tokens, enabling fully test-time and storage-efficient adaptation without necessitating source-domain information. We examine our VPA design under diverse adaptation settings, encompassing single-image, batched-image, and pseudo-label adaptation. We evaluate VPA on multiple tasks, including out-of-distribution (OOD) generalization, corruption robustness, and domain adaptation. Experimental results reveal that VPA effectively enhances OOD generalization by 3.3% across various models, surpassing previous test-time approaches. Furthermore, we show that VPA improves corruption robustness by 6.5% compared to strong baselines. Finally, we demonstrate that VPA also boosts domain adaptation performance by relatively 5.2%. Our VPA also exhibits marked effectiveness in improving the robustness of zero-shot recognition for vision-language models.

cs.CV↗

You Can't See Me: Physical Removal Attacks on LiDAR-based Autonomous Vehicles Driving Frameworks

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection systems to perceive other vehicles and pedestrians on the road. While existing attacks on LiDAR-based autonomous driving architectures focus on lowering the confidence score of AV object detection models to induce obstacle misdetection, our research discovers how to leverage laser-based spoofing techniques to selectively remove the LiDAR point cloud data of genuine obstacles at the sensor level before being used as input to the AV perception. The ablation of this critical LiDAR information causes autonomous driving obstacle detectors to fail to identify and locate obstacles and, consequently, induces AVs to make dangerous automatic driving decisions. In this paper, we present a method invisible to the human eye that hides objects and deceives autonomous vehicles' obstacle detectors by exploiting inherent automatic transformation and filtering processes of LiDAR sensor data integrated with autonomous driving frameworks. We call such attacks Physical Removal Attacks (PRA), and we demonstrate their effectiveness against three popular AV obstacle detectors (Apollo, Autoware, PointPillars), and we achieve 45° attack capability. We evaluate the attack impact on three fusion models (Frustum-ConvNet, AVOD, and Integrated-Semantic Level Fusion) and the consequences on the driving decision using LGSVL, an industry-grade simulator. In our moving vehicle scenarios, we achieve a 92.7% success rate removing 90\% of a target obstacle's cloud points. Finally, we demonstrate the attack's success against two popular defenses against spoofing and object hiding attacks and discuss two enhanced defense strategies to mitigate our attack.

cs.CR↗

On Adversarial Robustness of Trajectory Prediction for Autonomous Vehicles

Trajectory prediction is a critical component for autonomous vehicles (AVs) to perform safe planning and navigation. However, few studies have analyzed the adversarial robustness of trajectory prediction or investigated whether the worst-case prediction can still lead to safe planning. To bridge this gap, we study the adversarial robustness of trajectory prediction models by proposing a new adversarial attack that perturbs normal vehicle trajectories to maximize the prediction error. Our experiments on three models and three datasets show that the adversarial prediction increases the prediction error by more than 150%. Our case studies show that if an adversary drives a vehicle close to the target AV following the adversarial trajectory, the AV may make an inaccurate prediction and even make unsafe driving decisions. We also explore possible mitigation techniques via data augmentation and trajectory smoothing. The implementation is open source at https://github.com/zqzqz/AdvTrajectoryPrediction.

cs.CV↗

PointDP: Diffusion-driven Purification against Adversarial Attacks on 3D Point Cloud Recognition

3D Point cloud is becoming a critical data representation in many real-world applications like autonomous driving, robotics, and medical imaging. Although the success of deep learning further accelerates the adoption of 3D point clouds in the physical world, deep learning is notorious for its vulnerability to adversarial attacks. In this work, we first identify that the state-of-the-art empirical defense, adversarial training, has a major limitation in applying to 3D point cloud models due to gradient obfuscation. We further propose PointDP, a purification strategy that leverages diffusion models to defend against 3D adversarial attacks. We extensively evaluate PointDP on six representative 3D point cloud architectures, and leverage 10+ strong and adaptive attacks to demonstrate its lower-bound robustness. Our evaluation shows that PointDP achieves significantly better robustness than state-of-the-art purification methods under strong attacks. Results of certified defenses on randomized smoothing combined with PointDP will be included in the near future.

cs.CV↗

A Cooperative Perception Environment for Traffic Operations and Control

Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but also can provide the status of all detected surrounding vehicles. Integration of perception data from multiple CAVs as well as infrastructure sensors (e.g., LiDAR) can provide richer information even under a very low penetration rate. This paper aims to develop a cooperative data collection system, which integrates Lidar point cloud data from both infrastructure and CAVs to create a cooperative perception environment for various transportation applications. The state-of-the-art 3D detection models are applied to detect vehicles in the merged point cloud. We test the proposed cooperative perception environment with the max pressure adaptive signal control model in a co-simulation platform with CARLA and SUMO. Results show that very low penetration rates of CAV plus an infrastructure sensor are sufficient to achieve comparable performance with 30% or higher penetration rates of connected vehicles (CV). We also show the equivalent CV penetration rate (E-CVPR) under different CAV penetration rates to demonstrate the data collection efficiency of the cooperative perception environment.

cs.RO↗

Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles

To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame tracking is becoming increasingly popular for detecting 3D objects. Thus, in this work, we perform an analysis of camera-LiDAR fusion, in the AV context, under LiDAR spoofing attacks. Recently, LiDAR-only perception was shown vulnerable to LiDAR spoofing attacks; however, we demonstrate these attacks are not capable of disrupting camera-LiDAR fusion. We then define a novel, context-aware attack: frustum attack, and show that out of 8 widely used perception algorithms - across 3 architectures of LiDAR-only and 3 architectures of camera-LiDAR fusion - all are significantly vulnerable to the frustum attack. In addition, we demonstrate that the frustum attack is stealthy to existing defenses against LiDAR spoofing as it preserves consistencies between camera and LiDAR semantics. Finally, we show that the frustum attack can be exercised consistently over time to form stealthy longitudinal attack sequences, compromising the tracking module and creating adverse outcomes on end-to-end AV control.

cs.CR↗