# FROD: Robust Object Detection for Free

arXiv: https://arxiv.org/abs/2308.01888 · HTML: https://mlsanity.com/paper/2308.01888/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 59 references that are in the map.
- First posted on arXiv 3 Aug 2023.

## Builds on (most cited first, 30 of 46)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [Accurate, Large Minibatch SGD: Training ImageNet in 1 Hour](https://mlsanity.com/paper/1706.02677/) (2017)
- [DeepFool: a simple and accurate method to fool deep neural networks](https://mlsanity.com/paper/1511.04599/) (2015)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [Obfuscated Gradients Give a False Sense of Security: Circumventing Defenses to Adversarial Examples](https://mlsanity.com/paper/1802.00420/) (2018)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [Adversarial Examples Are Not Bugs, They Are Features](https://mlsanity.com/paper/1905.02175/) (2019)
- [Practical Black-Box Attacks against Machine Learning](https://mlsanity.com/paper/1602.02697/) (2016)
- [Robustness May Be at Odds with Accuracy](https://mlsanity.com/paper/1805.12152/) (2018)
- [Reluplex: An Efficient SMT Solver for Verifying Deep Neural Networks](https://mlsanity.com/paper/1702.01135/) (2017)
- [Fast is better than free: Revisiting adversarial training](https://mlsanity.com/paper/2001.03994/) (2020)
- [Evasion Attacks against Machine Learning at Test Time](https://mlsanity.com/paper/1708.06131/) (2017)
- [Image Segmentation Using Deep Learning: A Survey](https://mlsanity.com/paper/2001.05566/) (2020)
- [Adversarial Training for Free!](https://mlsanity.com/paper/1904.12843/) (2019)
- [Delving into Transferable Adversarial Examples and Black-box Attacks](https://mlsanity.com/paper/1611.02770/) (2016)
- [Object Detection in 20 Years: A Survey](https://mlsanity.com/paper/1905.05055/) (2019)
- [Adversarial Patch](https://mlsanity.com/paper/1712.09665/) (2017)
- [Using Pre-Training Can Improve Model Robustness and Uncertainty](https://mlsanity.com/paper/1901.09960/) (2019)
- [Adversarial Examples Improve Image Recognition](https://mlsanity.com/paper/1911.09665/) (2019)
- [Adversarial Examples for Semantic Segmentation and Object Detection](https://mlsanity.com/paper/1703.08603/) (2017)

## Built on by (most cited first, 2 of 2)

- [DispBench: Benchmarking Disparity Estimation to Synthetic Corruptions](https://mlsanity.com/paper/2505.05091/) (2025)
- [Consistency Beyond Contrast: Enhancing Open-Vocabulary Object Detection Robustness via Contextual Consistency Learning](https://mlsanity.com/paper/2603.26179/) (2026)

## Abstract (arXiv)

Object detection is a vital task in computer vision and has become an integral component of numerous critical systems. However, state-of-the-art object detectors, similar to their classification counterparts, are susceptible to small adversarial perturbations that can significantly alter their normal behavior. Unlike classification, the robustness of object detectors has not been thoroughly explored. In this work, we take the initial step towards bridging the gap between the robustness of classification and object detection by leveraging adversarially trained classification models. Merely utilizing adversarially trained models as backbones for object detection does not result in robustness. We propose effective modifications to the classification-based backbone to instill robustness in object detection without incurring any computational overhead. To further enhance the robustness achieved by the proposed modified backbone, we introduce two lightweight components: imitation loss and delayed adversarial training. Extensive experiments on the MS-COCO and Pascal VOC datasets are conducted to demonstrate the effectiveness of our proposed approach.