# A Survey of Trustworthy Federated Learning with Perspectives on Security, Robustness, and Privacy

arXiv: https://arxiv.org/abs/2302.10637 · HTML: https://mlsanity.com/paper/2302.10637/

## Key facts

- Cited by 24 papers in the map (data through 14 Oct 2026).
- Builds on 147 of its 275 references that are in the map.
- First posted on arXiv 21 Feb 2023.

## Builds on (most cited first, 30 of 147)

- [Communication-Efficient Learning of Deep Networks from Decentralized Data](https://mlsanity.com/paper/1602.05629/) (2016)
- [Advances and Open Problems in Federated Learning](https://mlsanity.com/paper/1912.04977/) (2019)
- [Federated Optimization in Heterogeneous Networks](https://mlsanity.com/paper/1812.06127/) (2018)
- [Deep Learning with Differential Privacy](https://mlsanity.com/paper/1607.00133/) (2016)
- [Membership Inference Attacks against Machine Learning Models](https://mlsanity.com/paper/1610.05820/) (2016)
- [Federated Learning with Non-IID Data](https://mlsanity.com/paper/1806.00582/) (2018)
- [BadNets: Identifying Vulnerabilities in the Machine Learning Model Supply Chain](https://mlsanity.com/paper/1708.06733/) (2017)
- [Targeted Backdoor Attacks on Deep Learning Systems Using Data Poisoning](https://mlsanity.com/paper/1712.05526/) (2017)
- [Adaptive Federated Optimization](https://mlsanity.com/paper/2003.00295/) (2020)
- [Deep Leakage from Gradients](https://mlsanity.com/paper/1906.08935/) (2019)
- [Tackling the Objective Inconsistency Problem in Heterogeneous Federated Optimization](https://mlsanity.com/paper/2007.07481/) (2020)
- [A Survey on Multi-Task Learning](https://mlsanity.com/paper/1707.08114/) (2017)
- [Towards Federated Learning at Scale: System Design](https://mlsanity.com/paper/1902.01046/) (2019)
- [LEAF: A Benchmark for Federated Settings](https://mlsanity.com/paper/1812.01097/) (2018)
- [How To Backdoor Federated Learning](https://mlsanity.com/paper/1807.00459/) (2018)
- [Inverting Gradients -- How easy is it to break privacy in federated learning?](https://mlsanity.com/paper/2003.14053/) (2020)
- [Byzantine-Robust Distributed Learning: Towards Optimal Statistical Rates](https://mlsanity.com/paper/1803.01498/) (2018)
- [Ensemble Distillation for Robust Model Fusion in Federated Learning](https://mlsanity.com/paper/2006.07242/) (2020)
- [Ditto: Fair and Robust Federated Learning Through Personalization](https://mlsanity.com/paper/2012.04221/) (2020)
- [Personalized Federated Learning with Moreau Envelopes](https://mlsanity.com/paper/2006.08848/) (2020)
- [Federated Learning Based on Dynamic Regularization](https://mlsanity.com/paper/2111.04263/) (2021)
- [Federated Learning with Differential Privacy: Algorithms and Performance Analysis](https://mlsanity.com/paper/1911.00222/) (2019)
- [Exploiting Unintended Feature Leakage in Collaborative Learning](https://mlsanity.com/paper/1805.04049/) (2018)
- [An Efficient Framework for Clustered Federated Learning](https://mlsanity.com/paper/2006.04088/) (2020)
- [Clustered Federated Learning: Model-Agnostic Distributed Multi-Task Optimization under Privacy Constraints](https://mlsanity.com/paper/1910.01991/) (2019)
- [Local Model Poisoning Attacks to Byzantine-Robust Federated Learning](https://mlsanity.com/paper/1911.11815/) (2019)
- [Towards Personalized Federated Learning](https://mlsanity.com/paper/2103.00710/) (2021)
- [Differentially Private Federated Learning: A Client Level Perspective](https://mlsanity.com/paper/1712.07557/) (2017)
- [FedMD: Heterogenous Federated Learning via Model Distillation](https://mlsanity.com/paper/1910.03581/) (2019)
- [Data-Free Knowledge Distillation for Heterogeneous Federated Learning](https://mlsanity.com/paper/2105.10056/) (2021)

## Built on by (most cited first, 24 of 24)

- [Decentralized Federated Learning: A Survey and Perspective](https://mlsanity.com/paper/2306.01603/) (2023)
- [Federated Continual Learning via Knowledge Fusion: A Survey](https://mlsanity.com/paper/2312.16475/) (2023)
- [Recent Advances of Multimodal Continual Learning: A Comprehensive Survey](https://mlsanity.com/paper/2410.05352/) (2024)
- [Threats and Defenses in Federated Learning Life Cycle: A Comprehensive Survey and Challenges](https://mlsanity.com/paper/2407.06754/) (2024)
- [Optimizing Privacy, Utility and Efficiency in Constrained Multi-Objective Federated Learning](https://mlsanity.com/paper/2305.00312/) (2023)
- [Trustworthy Federated Learning: Privacy, Security, and Beyond](https://mlsanity.com/paper/2411.01583/) (2024)
- [A Survey on Vulnerability of Federated Learning: A Learning Algorithm Perspective](https://mlsanity.com/paper/2311.16065/) (2023)
- [SecFormer: Fast and Accurate Privacy-Preserving Inference for Transformer Models via SMPC](https://mlsanity.com/paper/2401.00793/) (2024)
- [MQFL-FHE: Multimodal Quantum Federated Learning Framework with Fully Homomorphic Encryption](https://mlsanity.com/paper/2412.01858/) (2024)
- [FedSV: Byzantine-Robust Federated Learning via Shapley Value](https://mlsanity.com/paper/2502.17526/) (2025)
- [StoCFL: A Stochastically Clustered Federated Learning Framework for Non-IID Data with Dynamic Client Participation](https://mlsanity.com/paper/2303.00897/) (2023)
- [Federated Learning with Uncertainty and Personalization via Efficient Second-order Optimization](https://mlsanity.com/paper/2411.18385/) (2024)
- [FuSeFL: Fully Secure and Scalable Federated Learning](https://mlsanity.com/paper/2507.13591/) (2025)
- [FedHGN: A Federated Framework for Heterogeneous Graph Neural Networks](https://mlsanity.com/paper/2305.09729/) (2023)
- [TPFL: A Trustworthy Personalized Federated Learning Framework via Subjective Logic](https://mlsanity.com/paper/2410.12316/) (2024)
- [On the Fragility of Contribution Score Computation in Federated Learning](https://mlsanity.com/paper/2509.19921/) (2025)
- [Trustworthy Large Models in Vision: A Survey](https://mlsanity.com/paper/2311.09680/) (2023)
- [Horizontal Federated Computer Vision](https://mlsanity.com/paper/2401.00390/) (2023)
- [A2-DIDM: Privacy-preserving Accumulator-enabled Auditing for Distributed Identity of DNN Model](https://mlsanity.com/paper/2405.04108/) (2024)
- [Understanding Generalization of Federated Learning: the Trade-off between Model Stability and Optimization](https://mlsanity.com/paper/2411.16303/) (2024)
- [From Privacy to Trust in the Agentic Era: A Taxonomy of Challenges in Trustworthy Federated Learning Through the Lens of Trust Report 2.0](https://mlsanity.com/paper/2507.15796/) (2025)
- [Power to the Clients: Federated Learning in a Dictatorship Setting](https://mlsanity.com/paper/2510.22149/) (2025)
- [RIFLE: Robust Distillation-based FL for Deep Model Deployment on Resource-Constrained IoT Networks](https://mlsanity.com/paper/2602.08446/) (2026)
- [Upholding Robustness in Federated Learning: Trends, Emerging Strategies, and Research Opportunities](https://mlsanity.com/paper/2609.28722/) (2026)

## Abstract (arXiv)

Trustworthy artificial intelligence (AI) technology has revolutionized daily life and greatly benefited human society. Among various AI technologies, Federated Learning (FL) stands out as a promising solution for diverse real-world scenarios, ranging from risk evaluation systems in finance to cutting-edge technologies like drug discovery in life sciences. However, challenges around data isolation and privacy threaten the trustworthiness of FL systems. Adversarial attacks against data privacy, learning algorithm stability, and system confidentiality are particularly concerning in the context of distributed training in federated learning. Therefore, it is crucial to develop FL in a trustworthy manner, with a focus on security, robustness, and privacy. In this survey, we propose a comprehensive roadmap for developing trustworthy FL systems and summarize existing efforts from three key aspects: security, robustness, and privacy. We outline the threats that pose vulnerabilities to trustworthy federated learning across different stages of development, including data processing, model training, and deployment. To guide the selection of the most appropriate defense methods, we discuss specific technical solutions for realizing each aspect of Trustworthy FL (TFL). Our approach differs from previous work that primarily discusses TFL from a legal perspective or presents FL from a high-level, non-technical viewpoint.