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Manipulating Trajectory Prediction with Backdoors

Messaoud Ben Amor, Kaouther  
•
Grosse, Kathrin  
•
Chen, Mickael
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2023

Autonomous vehicles ought to predict the surrounding agents' trajectories to allow safe maneuvers in uncertain and complex traffic situations. As companies increasingly apply trajectory prediction in the real world, security becomes a relevant concern. In this paper, we focus on backdoors - a security threat acknowledged in other fields but so far overlooked for trajectory prediction. To this end, we describe and investigate four triggers that could affect trajectory prediction. We then show that these triggers (for example, a braking vehicle), when correlated with a desired output (for example, a curve) during training, cause the desired output of a state-of-the-art trajectory prediction model. In other words, the model has good benign performance but is vulnerable to backdoors. This is the case even if the trigger maneuver is performed by a non-casual agent behind the target vehicle. As a side-effect, our analysis reveals interesting limitations within trajectory prediction models. Finally, we evaluate a range of defenses against backdoors. While some, like simple offroad checks, do not enable detection for all triggers, clustering is a promising candidate to support manual inspection to find backdoors. 9 pages, 7 figures

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Type
report
Author(s)
Messaoud Ben Amor, Kaouther  
Grosse, Kathrin  
Chen, Mickael
Cord, Matthieu
Pérez, Patrick
Alahi, Alexandre  
Date Issued

2023

Publisher

arXiv

URL

ArXiv

https://doi.org/10.48550/arXiv.2312.13863
Editorial or Peer reviewed

NON-REVIEWED

Written at

EPFL

EPFL units
VITA  
Available on Infoscience
January 29, 2024
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/203201
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